Design and Implementation of a GPIO-assisted Sliding Mode Controller Embedded in a Digital Electronics Board to Test Electromechanical Devices

This work proposes the design, manufacturing and implementation of a robust digital electronic board, with capabilities to embed control algorithms for validating in testbeds with DC motors. The goal of the proposed electronic board is to create a software/hardware platform to implement/validate control strategies. In this case, the capabilities of the board were checked through the implementation of a Generalized Proportional Integral Observer (GPIO) based Sliding Mode Controller (SMC). First, the control architecture was simulated to create the structure of the algorithm, and second the simulated algorithm was transcribed to the 32-bits microcontroller language (CPU board), then the algorithm was validated and tested with two DC motors: a geared motor and a conventional motor. Finally, the simulation and experimental results are presented.