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This paper deals with the application of a sliding mode control (SMC) in tracking systems with trajectory generation. The possibilities of using this kind of VSS strategy on tracking control with reference trajectory generation under load disturbance and variable inertia is tested. The practical design of such robust sliding mode controller is discussed. Control law is obtained by using the methodology of balance condition. In order to achieve a tracking with quaranteed precision, smoothing of control function in constant and variable boundary layer are compared. Laboratory setup for experimental verification is realised. It consists of host system (based on MC 68332) and two mechanically coupled synchronous motor permanent magnet (SMPM), where one motor is load for another one. Economical loading is used, connecting the DC Busbars of both converters together so only a minimum energy for losses are consummated.
sliding mode; tracking systems; trajectory
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