Higher Order Sliding Mode Control and Performance Evaluation of DC Motor Under Parameter Variations

Abstract

Design of robust controller for DC motor under parameter variations is a challenging task. Sliding Mode Control technique is a widely used robust controller design methodology that takes care of parameter variations. The Sliding Mode Control is used to constrain the system trajectories to evolve onto the sliding surface. This paper examine the performance evaluation of armature controlled DC motor under considering uncertainties using first order and Second Order Sliding Mode Control. The first order sliding mode was designed by using unit vector approach. The two control algorithms twisting and super twisting of second order sliding mode was implemented in simulation in MATLAB environment.