Nonlinear sliding-mode control of a multi-motors web winding system without tension sensor

In this paper, a sliding-mode (SM) feedback linearization control system is designed for a multi-motors web winding system. At the first, an ideal feedback linearization control system is adopted in order to decouple the tensions and velocity of the web winding system. Then to enhance the performance of the control system in the present of uncertainties, a SM feedback linearization control system is applied, that comprises a SM velocity controller and two SM tension controllers. In addition an open loop tensions observer is suggested and its stability is proved. Moreover the dynamics of the motors used in the web winding system is considered. Finally, the effectiveness and capability of the proposed control strategy is verified by computer simulation.