In this contribution, a gain adaptation for sliding mode control (SMC) is proposed that\nuses both linear model predictive control (LMPC) and an estimator-based disturbance compensation.\nIts application is demonstrated with an electromagnetic actuator. The SMC is based on a second-order\nmodel of the electric actuator, a direct current (DC) drive, where the current dynamics and the\ndynamics of the motor angular velocity are addressed. The error dynamics of the SMC are stabilized\nby a moving horizon MPC and a Kalman filter (KF) that estimates a lumped disturbance variable.\nIn the application under consideration, this lumped disturbance variable accounts for nonlinear\nfriction as well as model uncertainty. Simulation results point out the benefits regarding a reduction\nof chattering and a high control accuracy.
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