Application of Sliding Mode Control with a Low Pass Filter to the Constantly Rotating Slider-Crank Mechanisms

Abstract

In this paper, a novel sliding mode controller is designed to track periodic reference signal and reject periodic disturbance for the periodically rotating mechanisms. The novel sliding mode controller includes an integral compensator and a low pass filter to reduce the chattering phenomena and the accumulated periodic errors of the periodic motion. The sliding condition for the control system is derived in detail. Then the proposed method is extended its application to the slider-crank mechanism and its tracking performance is obtained and compared with that of the repetitive control.