Design of Backstepping- Sliding mode control combination with extended state observation (ESO) for two–mass systems

Abstract

The paper presents the results of backstepping - sliding mode control based on control design for speed actual value of load motor match speed reference for two-mass systems. This controller is combined with an extended state observer (ESO) for estimating the torque load sides of two-mass systems.  The effectiveness of the control systems (reduce vibration and eliminate mechanical resonance) is compared with classical PI controllers commonly used in industry. The results of analysis and evaluation between the speed control methods for the two-mass system were performed by Matlab simulation software.