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

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 Lagrange multiplier methods are applied to formulate the equation of motion. Based on the principles of the adaptiv e model-following control and the variable-structure control, a VSMFC syste m is developed to control the position of a slider of the toggle mechanism servo system. Numerical and experimental results show that the dynamic beha viour of the proposed controller-motor-mechanism system is robust to parame tric variations and external disturbances.