A Comparative Study of Auto-tuned PID Controller based on Different SMC Schemes for a DC Motor Speed Control: Practical Validation

Abstract

This paper represents a comparative study of autotuned proportional-integral-derivative (PID) controller based on different sliding mode control (SMC) schemes for the DC motor speed control such as traditional SMC, fuzzy SMC (Fuzzy-SMC), fuzzy terminal SMC (Fuzzy-TSMC) and fuzzy fast terminal SMC (Fuzzy-FTSMC) schemes to treat uncertainties existing in the DC motor model in practical validation. The DC motor have little change in its parameters, in addition, surrounding conditions vary from one time to another, this makes a very difficult to choose an appropriate controller, so that the researchers resort to using an adaptive controller to control the DC motor to improve the performance and increase the stability against the uncertainties. The auto tuned PID controller automatically compensates for variations in system dynamics by adjusting the controller characteristics so that the overall system performance remains the same, or rather maintained at optimum level. The experimental results were obtained to verify the applicability and effectiveness of the proposed control scheme against external disturbance and model uncertainties with a comparative study.