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ESO Based Adaptive Sliding Mode Control of Servo Systems With Input Saturation 213
Figure 13.4 Control signals of different controllers.
Figure 13.5 The adaptive curves of the controller parameter k in the second and third
methods.
not used in this case. As it can be seen from Fig. 13.5, the controller gain
k of the third method is smaller than that of the second one, which means
that the third method could achieve similar or better performance than the
second one with a lower control power.
13.5 CONCLUSION
An adaptive sliding mode control method based on ESO is proposed in
this chapter for uncertain servo systems with unknown input saturation.
