PID sliding mode control based on disturbance observer

Because of time and space delay switch, system inertia, system delay, measurement error and other factors in practical application, which leads to the high-frequency chattering of variable structure control under dynamical sliding mode. This paper analyzes the chattering effect on system performance and cause. To disturbances and uncertainty of servo system, this paper proposed sliding mode control algorithm of PID-type switching function and using disturbance observer to observe disturbance and uncertainty to select the appropriate approach speed. This algorithm is well weaken the chattering. Simulation results show that the algorithm can not only suppress the vibration but also improve the dynamic and static quality of servo system.