... of friction in the low-speed region, the elements of the Q matrix have been retuned with the use of fuzzy logic. First, the influence of the Q matrix on the dynamics of the drive has been discussed. On the basis of these findings a fuzzy system has been developed. Findings It has been demonstrated...

... disturbance estimator creates proper non‐linear characteristics, which ensures controller robustness against friction. Design/methodology/approach The position and speed controller is based on robust design methodology introduced by a sliding mode technique. The paper proposes a combination of sliding...