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Vol: 55(69) No: 4 / December 2010 Optimal Moving Sliding Mode Control with Application to Electrical Servo Drive Dragan Antić Department of Automatics, University of Niš, Faculty of Electronic Engineering, Niš, Republic of Serbia, phone: +38118529364, e-mail: dragan.antic@elfak.ni.ac.rs Marko Milojković Department of Automatics, University of Niš, Faculty of Electronic Engineering, Niš, Republic of Serbia, e-mail: marko.milojkovic@elfak.ni.ac.rs Saša Nikolić Department of Automatics, University of Niš, Faculty of Electronic Engineering, Niš, Republic of Serbia, e-mail: sasa.s.nikolic@elfak.ni.ac.rs Staniša Perić Department of Automatics, University of Niš, Faculty of Electronic Engineering, Niš, Republic of Serbia, e-mail: stanisa.peric@elfak.ni.ac.rs Keywords: fuzzy sliding mode control, time-varying sliding surface, optimal control, electrical servo drive Abstract A new controller for optimal speed control of a electrical servo drive is presented in this paper. Controller is based on sliding mode control theory with a moving (time-varying) sliding surface. Sliding mode achieves good transient performance and system robustness. Drawbacks of the sliding mode (sensitivity in the reaching phase, presence of chattering) have been overcome by using fuzzy logic component that continuously varies the sliding slope, based on the current tracking error. Fuzzy part has been optimally adjusted by genetic algorithm technique. Proposed optimal fuzzy sliding mode control has been applied to an experimental electrical servo drive system. Performed experiments with the comparative analysis verifies the efficiency, excellent performance and robustness of such control for a electrical servo drive. References [1] V. I. Utkin, “Variable structure systems with sliding modes”, IEEE Trans. Aut. Cont., vol. 22(2), pp. 212-221, 1977. [2] V. I. Utkin, J. Guldner, and J. Shi, Sliding Mode Control in Electromechanical Systems, CRC Press, 1999. [3] W. Perruquetti and J. 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