Robust Control Simulation and Implementation for DC Motor

Abstract

The sliding mode controller has been suggested to achieve robust performance against parameter variations and load disturbances. It also offers a fast dynamic response, stable control system and easy hardware-software implementation. This paper focuses the application of this approach to the adjustment of a speed control DC motor, in Matlab Simulink simulation and Arduino hardware implementation, The main goal of this paper is to improve the performances of DC motor controlling by sliding mode. In first the modeling of DC motor is well explained in this paper, is important step for control of system, secondly the basic theory regarding sliding mode controller SMC using Lyapunovis function is presented. Finley the application of SMC using Matlab simulation and Arduino implementation for DC motor, the results show that SMC has a better performance compared to PI which is faster settling time and no overshoot and undershoot, could be used as an alternative controller for the DC Motor.

Analysis and implementation of second order differentiators in embedded systems

“…Observing equation (23) and the integration algorithm observed in equation (13), it follows that the position x1 , velocity x2 and acceleration ẋ2 estimations can be constructed by the recursive expression Aditionally, just as stated in equation ( 21), a low pass filter can be used to improve the acceleration estimation as…”

“…where y (t) = x 1 (t) denotes the measured output to be differentiated, and {x 1 , x 2 , x 3 } are the estimated position, velocity, and acceleration, respectively. This notation has been intentionally used, for the reader to compare the sliding mode differentiator, equation ( 27), with the high-gain observer, equation (23).…”