부산대학교 도서관

The objective of this paper is to present an implementation strategy for DC servo motor control over a network, using classical sliding mode control (SMC) action, in presence of model uncertainties as well as network delay. Continuous time SMC is used as a robust control methodology which is digitally implemented through a computer. Further, the communication delay in the network is modeled in the form of a zero order hold (ZOH) acting in the control loop. Simulation is done by taking different hold times of the ZOH with the SMC designed as per the traditional Gao's reaching law technique and the recently developed band approach technique. The results show both qualitative and quantitatively that the control designed using the new band approach method gives better performance in the networked control approach to control the angular position of a DC motor.