Abstract
Digital acceleration control has been proposed to control non-linear mechanical systems. The advantage of this method is that construction of controller becomes easily even though non-linear factors or disturbance exist in controlled object. However, it requires position, velocity, and acceleration of controlled object to construct a controller. Not all mechanical systems can obtain the information of velocity or acceleration of controlled object. So the application of the digital acceleration control method has been confined to the area of which can obtain those information. In this paper, we use position sensor and differentiate it by using filtering technique in order to obtain velocity and acceleration. We use ESDS that is based on sliding mode technique. Simulation results show the validity of ESDS as the differentiator.
