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Cascade control of PM-DC drives via second-order sliding mode technique

This paper presents a novel scheme for the speed/position control of permanent-magnet (PM) DC motor drives. A cascade control scheme, based on multiple instances of a second-order sliding-mode control (2-SMC) algorithm, is suggested, which provides accurate tracking performance under large uncertainty about the motor and load parameters. The proposed scheme has been implemented and tested experimentally on a commercial PM DC motor drive. The experimental results confirm the precise and robust performance, and the ease of tuning and implementation, featured by the proposed scheme.