MOTION CONTROLLER HAVING SLIDING MODE CONTROLLER

A motion controller for maintaining a controlled system on a switching hyperplane regardless of the magnitude of disturbance. The motion controller includes a target position generator, a sliding mode controller, a disturbance observer and a state observer. The target observer generates a target position to the sliding mode controller based on position and velocity data. The state observer estimates the state of the controlled system and provides the state to the sliding mode controller. And, the disturbance observer provides an estimated disturbance to the sliding mode control. The sliding mode controller generates a control input to the controlled system with the nonlinear component set to equal the negative estimated disturbance and the linear component based on the estimated state and target position.