Integral sliding mode controller with disturbance estimator for trajectory tracking in a class of electromechanical systems

In this work, an alternative is proposed to solve the control problem for trajectory tracking, mainly applied to direct current motors. A discontinuous sliding mode controller is designed that is insensitive to parametric uncertainty and external disturbances, as long as certain conditions are met to avoid the reachability stage. On the other hand, a disturbance estimator is presented which is easy to implement and helps us to decrease the amplitude of the gain of the discontinuous term of the controller. Numerical simulations support the theoretical results, demonstrating a good performance of the proposed controller.