Cascade VSS in motion control systems

Asif Sabanovic, Kouhei Ohnishi, Nadira Sabanovic

Research output: Contribution to conferencePaperpeer-review


The motion control system design using the Variable Structure Systems (VSS) approach with deliberate introduction of sliding mode motion is discussed in this paper. The controller is designed to have a cascade structure, with inner sliding mode loop, to avoid the problem of a discrete time implementation of VSS with sliding modes. Following problems are discussed: selection of the switching functions; estimation of the switching function; design of cascade VSS with inner current loop and the influence of parameters uncertainties on the system motion. Proposed algorithms are verified by simulation and experiments. Both simulation and experimental results are presented.

Original languageEnglish
Number of pages4
Publication statusPublished - 1992 Dec 1
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: 1992 Jul 131992 Jul 15


OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA

ASJC Scopus subject areas

  • General Engineering


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