Filtered integral sliding mode control in a two-mass drive system

The paper presents issues related to the application of filtered integral sliding mode control to a two-mass drive system. A classical control structure has been presented and its design procedure is shown in detail. The properties of the classical structure, in which the chattering phenomenon seems to be a big drawback, have been summarized. In order to eliminate this phenomenon, an output low-pass filter has been proposed and the performance of this system has been tested. In order to improve its characteristics, an adaptive low-pass filter has been proposed. The bandwidth of the filter was changed on-line by the fuzzy system according to the current state of the plant. During the steady-states, the bandwidth is low to eliminate chattering effect, and during transients higher in order to ensure the fast dynamics of the plant.