Sliding Mode Control for a DC Motor System with Dead-Zone

Due to the simple structure of DC motors, the natural decoupling between torque and speed, and its low cost the DC motors have been widely used in electromechanical systems, the paper deals with the experimental method of DC motor Coulomb friction identification that caused the dead nonlinear zone and proposed a nonlinear model of the DC motor, then a sliding mode strategy is developed to control the DC motor in high and low speed for bidirectional operation, The experimental implementation using Dspace 1104 demonstrate that the proposed sliding mode control can achieve favorable tracking performance against non-linearities for a DC motor.

Novel Method of Friction Identification with Application for Inverted Pendulum Control System

This text covers a novel method of friction identification for control systems. The friction function in the inverted pendulum model is described by means of a cubic polynomial. The method has been tested using the data recorded on a real inverted pendulum. It has been proven that the proposed cubic model offers the same level of accuracy as the Coulomb model. However, all the difficulties caused by Coulomb’s model discontinuity are omitted.