Open Access Open Access  Restricted Access Subscription or Fee Access

An Adaptive Sliding Mode Control for Multi-Span Nonlinear Web Material Linkage Systems

(*) Corresponding author

Authors' affiliations



This study presents an adaptive controller for multi-span nonlinear web material linkage systems with the characteristic of a variable moment of inertia and operating radius of rolls. Sliding mode control is used to control web tensions as well as velocities of the system due to its robustness against modeling imprecision. In addition, an adaptive law combined with sliding mode control is proposed to estimate the moment of inertia. As a result, the adaptive sliding mode control structure takes advantage of nonlinear sliding mode control and adaptation algorithm to deal with parameter changes. To verify the controller, the stability of the whole system is proved based on Lyapunov’s stability theory. The simulation results illustrate reliable performance by comparing several nonlinear controllers.
Copyright © 2023 Praise Worthy Prize - All rights reserved.


Adaptive Sliding Mode Control; Lyapunov's Stability Theory; Moment of Inertia; Uncertainty Components; Web Material Linkage Systems

Full Text:



S. Tuukkanen, J. Toriseva, A. Pammo, J. Virtanen, and J. Lahti, Piezoelectric properties of roll-to-roll fabricated polylactic acid films, in 2020 IEEE 8th Electronics System-Integration Technology Conference (ESTC), Sep. 2020, pp. 1-3.

X. C. Shan, V. Sunappan, B. Salam, and B. K. Lok, Roll-to-Roll Gravure Printing of Electric Heaters on Polymeric Substrates, in 2020 IEEE 22nd Electronics Packaging Technology Conference (EPTC), Oct. 2020, pp. 210-212.

R. L. S. Tan, J. N. Tey, W. T. Kerk, and B. K. Lok, Roll-to-Roll Manufacturing of Printed Biosensor Electrodes for ECG Monitoring, in 2020 IEEE 22nd Electronics Packaging Technology Conference (EPTC), Oct. 2020, pp. 213-215.

M. Ghorab, A. Fattah, and M. Joodaki, Tensile Mechanical Strain Effects on the Electrical Characteristics of Roll-to-Roll Printed OSC, IEEE Journal of Photovoltaics, vol. 12, no. 3, pp. 737-743, May 2022.

N. Graff and D. Djurdjanovic, Modelling, Simulation and Control of Roll-to-Roll Physical Vapor Deposition Processes, Procedia CIRP, vol. 113, pp. 546-551, Oct. 2022,.

N. I. Giannoccaro and T. Sakamoto, Implementation and Validation of a Simple Direct Identification Method for an Experimental Multi-Span Web Transport System, Systems, vol. 10, no. 1, Art. no. 1, Feb. 2022.

Z. Wang, S. Liu, F. Jiao, Z. Zhang, and W. Chen, Design Tension Controller for the Rewinding System of Roll-to-roll Precision Coating Machine, in 2021 IEEE 4th Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC), Jun. 2021, vol. 4, pp. 1156-1160.

Pham, V.H. et al. (2023). Backstepping Sliding Mode Control Design for Active Suspension Systems in Half-Car Model. In: Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H., Sattler, KU. (eds) Advances in Engineering Research and Application. ICERA 2022. Lecture Notes in Networks and Systems, vol 602. Springer, Cham.

L. T. Thi, L. N. Tung, C. Duc Thanh, D. N. Quang, and Q. N. Van, Tension Regulation of Roll-to-roll Systems with Flexible Couplings, in 2019 International Conference on System Science and Engineering (ICSSE), Jul. 2019, pp. 441-444.

L. Tong Thi, H. Nguyen, D. Cao, and T. Nguyen, Backstepping Control of Rewinding Systems with Flexible Couplings, Universal Journal of Electrical and Electronic Engineering, vol. 7, pp. 177-186, Jun. 2020.

Pham, M.D. et al. (2023). Auto-balancing Ballbot Systems: A Fractional-Order Sliding Mode Based Radial-Basis Neural Network Approach. In: Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H., Sattler, KU. (eds) Advances in Engineering Research and Application. ICERA 2022. Lecture Notes in Networks and Systems, vol 602. Springer, Cham.

Loubar, H., Boushaki, R., Aouati, A., Bouanzoul, M., Sliding Mode Controller for Linear and Nonlinear Trajectory Tracking of a Quadrotor, (2020) International Review of Automatic Control (IREACO), 13 (3), pp. 128-138.

L. Yuan, C. Xiu, and X. Ma, Sliding mode control strategy for microgrid inverter systems, Journal of Power Electronics, Dec. 2022.

D. T. Le, M. T. Ngo, V. T. Dang, and T. L. Nguyen, A sensorless anti-windup speed control approach to axial gap bearingless motors with nonlinear lumped mismatched disturbance observers, ISA Transactions, Mar. 2023.

Shaija, P., Daniel, A., Parameter Tuning of Sliding Mode Speed Controller of Induction Motor Drive Using Teaching-Learning Based Optimization Algorithm, (2022) International Review of Automatic Control (IREACO), 15 (1), pp. 28-37.

V. T. Dang et al., Adaptive Control for Multi-Shaft with Web Materials Linkage Systems, Inventions, vol. 6, no. 4, Art. no. 4, Dec. 2021.

X. Nian, X. Fu, X. Chu, H. Xiong, and H. Wang, Disturbance observer-based distributed sliding mode control of multimotor web-winding systems, IET Control Theory & Applications, vol. 14, no. 4, pp. 614-625, 2020.

V. Trong Dang, T. Dieu Trinh Tran, D. Thinh Le, B. Nhu Nguyen and T. Lam Nguyen, Adaptive strategy with output constraints for multi-section web linkage system, 2022 7th National Scientific Conference on Applying New Technology in Green Buildings (ATiGB), Da Nang, Vietnam, 2022, pp. 6-10.

Z. Chen, B. Qu, B. Jiang, S. Forrest, and J. Ni, Robust constrained tension control for high-precision roll-to-roll processes, ISA Transactions, Nov. 2022.

Thi, L.T. et al. (2022). An Output Observer Integrated Dynamic Surface Control for a Web Handing Section. In: Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H., Sattler, KU. (eds) Advances in Engineering Research and Application. ICERA 2021. Lecture Notes in Networks and Systems, vol 366. Springer, Cham.

V. T. Dang, D. B. H. Nguyen, T. D. T. Tran, D. T. Le, and T. L. Nguyen, Model-free hierarchical control with fractional-order sliding surface for multisection web machines, International Journal of Adaptive Control and Signal Processing, vol. 37, no. 2, pp. 497-518, 2023.

D. N. Duc, L. T. Thi, and T. L. Nguyen, Imperfect Roll Arrangement Compensation Control based on Neural Network for Web Handling Systems, Engineering, Technology & Applied Science Research, vol. 10, no. 3, pp. 5694-5699, 2020.

Makhad, M., Zazi, K., Zazi, M., Loulijat, A., Smooth Super Twisting Sliding Mode Control for Permanent Magnet Synchronous Generator Based Wind Energy Conversion System, (2020) International Journal on Energy Conversion (IRECON), 8 (5), pp. 171-180.

Traoré, B., Doumiati, M., Olivier, J., Morel, C., Adaptive Power Sharing Algorithm Combined with Robust Control for a Multi-Source Electric Vehicle: Experimental Validation, (2022) International Review of Electrical Engineering (IREE), 17 (1), pp. 39-53.

Massaq, Z., Chbirik, G., Abounada, A., Brahmi, A., Ramzi, M., Control of Photovoltaic Water Pumping System Employing Non-Linear Predictive Control and Fuzzy Logic Control, (2020) International Review on Modelling and Simulations (IREMOS), 13 (6), pp. 373-382.

Dbaghi, Y., Farhat, S., Mediouni, M., Essakhi, H., Comparative Study Between Back-Stepping Control and ANN-Sliding Mode Control of DFIG-Based Wind Turbine System, (2021) International Review on Modelling and Simulations (IREMOS), 14 (4), pp. 261-271.

Rached, B., Elharoussi, M., Abdelmounim, E., DSP in the Loop Implementation of Sliding Mode and Super Twisting Sliding Mode Controllers Combined with an Extended Kalman Observer for Wind Energy System Involving a DFIG, (2020) International Journal on Energy Conversion (IRECON), 8 (1), pp. 26-37.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2024 Praise Worthy Prize