Self-tuning in sliding mode control of high-precision motion systems

Marcel F. Heertjes, Yasemin Vardar

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)


In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision motion system.

Original languageEnglish
Title of host publication6th IFAC Symposium on Mechatronic Systems, MECH 2013
PublisherIFAC Secretariat
Number of pages7
ISBN (Print)9783902823311
Publication statusPublished - 1 Jan 2013
Externally publishedYes
Event6th IFAC Symposium on Mechatronic Systems, MECH 2013 - Hangzhou, China
Duration: 10 Apr 201312 Apr 2013

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


Conference6th IFAC Symposium on Mechatronic Systems, MECH 2013


  • Machine-in-the-loop optimization
  • Motion systems
  • Self-tuning
  • Sliding mode control
  • Wafer scanners


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