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Design of nonsingular terminal sliding mode controller for DC motor systems

Finite time control systems have been studied actively because finite time stabilization is very important in many actual industries. Terminal sliding mode control is one of finite time robust control scheme, that is, it assures that the error gets to zero in finite time. Conventional terminal sliding mode control methods suffer from singularity problem. In order to overcome the problem, nonsingular terminal sliding mode controllers have been proposed very recently. But the sliding surface has been designed using a power function whose exponent is a rational number. Thus, in this paper, a novel nonsingular terminal sliding mode controller for DC motor system is proposed. The proposed nonsingular terminal sliding surface extends a condition on the exponent from a rational number to a real number.