Sliding Mode Control of Angular Speed DC Motor System with Parameter Uncertainty

Abstract

A sliding mode control (SMC) was implemented to control the angular speed of the DC motor in terms of reference tracking and overcoming parameter uncertainties. Moreover, a detailed performance comparison of the method with Proportional Integral Derivative (PID) Control and integral state feedback (ISF) was presented. The research was done using simulation in Simulink MATLAB with A DC motor model in a transfer function. Parameters in the sliding function significantly influenced the augmented system performance. Based on the simulation results, the SMC outperforms the PID and ISF control, especially in the system's time response. Using SMC, the augmented system can be considered robust from resistance and inductance uncertainties, with no overshoot occurring in the system response.