  This paper proposes a practical implementation of sliding mode control (SMC)
that utilizes partial modeling compensation. Sliding mode control is well known
for its effectiveness as a model free control approach, however, its
effectiveness is degraded if there is a constraint on the control gain or
limitation on the switching frequency in digital implementation. This is
especially the case with systems that involve static friction. This approach
aims to enhance the effectiveness of SMC by partial model compensation.
Rigorous stability proofs are presented to validate the approach. In addition,
experiments are carried out on a piezoelectric motor driven linear stage and
the control approach is compared with the Discrete-Time Integral Sliding Mode
(DTISMC) approach proposed by Abidi et al. as well as conventional PI control.
The results show that the proposed control approach has a superior performance
in comparison to the other approaches tested.
