A toggle mechanism servo system with variable-structure model-following control

Rong Jong Wai, Faa Jeng Lin, Kuo Kai Shyu

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


A toggle mechanism, which is driven by a permanent-magnet synchronous servo motor, with variable-structure model-following control (VSMFC) is proposed in this study. The rod and crank of the toggle mechanism are assumed to be rigid. The Hamilton principle and L agrange multiplier methods are applied to formulate the equation of motion. Based on the principles of the adaptive model-following control and the variable-structure control, a VSMFC system is developed to control the position of a slider of the toggle mechanism servo system. Numerical and experimental results show that the dynamic behaviour of the proposed controller-motor-mechanism system is robust to parametric variations and external disturbances.

Original languageEnglish
Pages (from-to)1213-1225
Number of pages13
JournalInternational Journal of Systems Science
Issue number11
StatePublished - 1999


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