Feedback Linearization with Sliding Mode Control of Current and Arc Length in GMA W Systems

Abstract In this paper a model based nonlinear controller for a Gas Metal Arc Welding (GMAW) system is designed. The controller uses nonlinear state feedback to exactly linearize and decouple the GMAW system. The linearized system is then controlled using model reference sliding mode controllers. The effect of parameter uncertainty over the closed loop system performance is investigated and simulation results show the effectiveness of the proposed controller.