Basic Tutorial on Sliding Mode Control

in Speed Control of DC-motor

1st Hari Maghfiroh 2nd A. Sujono
Dept. Electrical Engineering Dept. Electrical Engineering
Universitas Sebelas Maret Universitas Sebelas Maret
Surakarta, Indonesia Surakarta, Indonesia
hari.maghfiroh@gmail.com agus.sjn.te16@gmail.com

3rd Musyaffa' Ahmad 4th Chico Hermanu Brillianto Apribowo

Dept. Electrical Engineering Dept. Electrical Engineering
Universitas Sebelas Maret Universitas Sebelas Maret
Surakarta, Indonesia Surakarta, Indonesia
mus_ahmad@student.uns.ac.id chico@ft.uns.ac.id

Abstract – One technology to support production speed is electric needed. In this research, the SMC method will be applied in
motors with high performance, efficiency, dynamic speed and good speed control of DC motor. Classical PID is used to compare
speed responses. DC motors are one type of electric motor which is the performance of SMC.
used in the industry. Sliding Mode Control (SMC) is the robust non- This paper is organized as follows. Section II present the
linear control. The basic theory regarding SMC is presented. The theoretical review of SMC which mentioned before. In section
SMC design which is implemented is the speed control of the DC
III, design of SMC for speed control of DC motor is presented.
motor is analyzed. The controller is implemented in simulation using
MATLAB / Simulink environment. The step response and signal
In section IV, the simulation results are discussed. Finally, the
tracking test unit are carried out. The results show that SMC has a conclusion is in section V.
better performance compare to PID which is faster settling time and
II. SLIDING MODE CONTROL
no overshoot and undershoot.
The SMC works by bringing the state from the system to the
Keywords—railway, traction motor, motor control, MRAS sliding surface and then to the central point, as illustrated in
Figure 1 (a). Next Figure 1 (b) shows the switching of the
I. INTRODUCTION control signal tracking the sliding surface to the origin. Sliding
One of the technologies used to accelerate the production surface is a condition where the switching function (s) is zero
process in the industry is an electric motor. Electric motor based (s = 0). On the top and bottom of the sliding surface, there is a
on the electric current is divided into two, namely DC motors limiting switching value, ± Δ. If a state x (t) is x (t)> Δ then
and AC motors. DC motors were first discovered and are still switching will be off, otherwise if x (t) <- Δ then switching will
widely used today because of the ease in the control system. be on. System reach sliding surface by making transition
However, DC motors require more expensive maintenance between stable and unstable trajectories and error converge to
costs than AC motors because of the brush that can wear out. zero in sliding surface [7]. The aim of the SMC is that the output
Electric motor applications in the industrial world include of the system is to track to the desired reference and to produce
electric cars, robotic actuators, paper machines and home control signals which make minimum tracking error.
applications [1]. The control signal in the SMC consists of two parts, namely
PID is one of the classic control methods that are still widely in reaching mode and sliding mode. Reaching mode is to bring
used. Based on [2][3] 90% of industries still use PID because the state of the system to a sliding surface, switching control
of the advantages of being simple and applicable. However, one (usw) is required. Furthermore, in the sliding mode state, there
disadvantage of this method is that performance decreases if the is an equivalent control (ueq) to keep the state system stable. The
plant is non-linear [4]. Sliding Mode Control (SMC) is one sliding mode control signal can be written as equation (1), while
controller that can handle plant nonlinearity conditions. R.K. switching control defined as (2). Figure 2 shows the SMC
Munje et.al.[5] said that the advantages of SMC are robustness, diagram where the control signal consists of equivalent control
ability to deal with non-linear systems, time-varying systems, it and switching control.
can be designed for fast dynamic responses and good abilities
over the wide range. 𝑢𝑆𝑀𝐶 (𝑡) = 𝑢𝑒𝑞 + 𝑢𝑠𝑤 (1)
DC motor will have electrical parameters changes as the
temperature increase, current, and voltage fluctuations, time- 𝑢𝑠𝑤 = 𝐾 𝑠𝑔𝑛(𝑠) (2)
varying loading conditions, driving and operating conditions
[6]. These changes are making the DC motor has non-linear where K > 0 is selected sufficiently large. The larger value of
characteristics. Therefore, the non-linear control method is K, the faster the trajectory converges to the sliding surface.

Journal of Electrical, Electronic, Information, and Communication Technology (JEEICT)

Vol. 2 No. 1, April 2020, Pages 1-4 1
 III. SPEED CONTROL OF DC MOTOR
A. DC Motor Model
There is a lot of DC motor model which can be found in
references as in [9][10]. In this research, the real DC motor is
modeled using MATLAB System Identification. The input-
output which is voltage and speed is taken using Arduino data
logger. The data are processed using MATLAB and the second-
order transfer function of the DC motor is found as in (4)[11].
Figure 1 shows the DC motor and controller as the plant.
𝜔(𝑠) 138.5
= (4)
𝑉(𝑠) 𝑠2 + 1.48𝑠+12.81

(a)Phase portrait of sliding mode control

Fig. 3. DC motor as the plant

(b) Sliding surface, reaching mode and high frequency
switching B. SMC Controller Design
Fig. 1. Sliding Mode Control (SMC) process [7] In time domain, equation (4) can be written as
SMC has the disadvantage of switching from discontinuous
𝜔̈ (𝑡) + 1.48𝜔̇ (𝑡) + 12.81𝜔 = 138.5 𝑉(𝑡) (5)
control. There are many methods to reduce chattering. One can
consider pseudo sliding with smooth control action [8].
Now consider
𝑠
𝑢𝑠𝑤 = 𝐾 |𝑠|+𝛿
(3) 𝑥1 = 𝜔(𝑡) and 𝑢 = 𝑉(𝑡) (6)

where δ is a small tuning scalar called as tuning parameter to Then the system can be converted into the following canonical
reduce chattering. form

𝑥̇1 = 𝑥2 (7)

𝑥̇ 2 = 𝜔̈ = −1.48 𝑥2 − 12.81𝑥1 + 138.5𝑢 (8)

𝑦 = 𝑥1 (9)

Now, the equivalent control and switching control can be

designed

 Switching function

𝑠 = 𝐶𝑒 + 𝑒̇ = 𝐶(𝜔𝑟 − 𝜔) + (𝜔̇ 𝑟 − 𝜔)̇ (10)

𝑠̇ = 𝐶(𝜔̇ 𝑟 − 𝜔̇ ) + (𝜔̈ 𝑟 − 𝜔̈ ) (11)

where 𝜔𝑟 is the speed reference and C > 0 is performance

Fig. 2. Diagram block of Sliding Mode Control (SMC) [7]
parameter which guaranteed the stability of the system [12]. On
sliding surface

Journal of Electrical, Electronic, Information, and Communication Technology (JEEICT) 2

Vol. 2 No. 1, April 2020, Pages 1-4
 𝑠 = 0 → 𝑠̇ = 0 (12) lower rise time without oscillation and reach steady-state
condition faster than PID. Both controller response has zero
 Equivalent control can be found by substituting steady-state error. Detailed controller performance parameters
equation (8) into equation (11) when 𝑠̇ = 0 as follow can be seen in Table 1. It clearly is seen that the PID response
has a big overshoot and undershoot while SMC did not have.
𝐶(𝜔̇ 𝑟 − 𝜔̇ ) + 𝜔̈ 𝑟 − (−1.48 𝑥2 − 12.81𝑥1 + 138.5𝑢) = 0
TABLE I. PERFORMANCE FOR UNIT STEP RESPONSE
(13)
𝐶(𝜔̇ 𝑟 − 𝜔̇ ) + 𝜔̈ 𝑟 + 1.48 𝜔̇ + 12.81𝜔 − 138.5𝑢 = 0 Control Settling time Maximum % Maximum %
(14) method (second) overshoot (OS) undershoot
Since the derivative of reference signal of set point is zero, PID 1.3 9 9
SMC 0.8 0 0
equation (14) became

138.5𝑢 = 12.81𝜔 + (1.48 − 𝐶)𝜔̇ (15)

1
𝑢𝑒𝑞 = 𝑢 = (12.81𝜔 + (1.48 − 𝐶)𝜔̇ )
138.5
(16)

 To eliminate the chattering effect, switching control in

equation (3) is used. Therefore, the final controller
signal for SMC is as follow

1 𝑠
𝑢𝑆𝑀𝐶 = (12.81𝜔 + (1.48 − 𝐶)𝜔̇ ) + 𝐾
138.5 |𝑠| + 𝛿
(17)

Simulink model of the control system shown in Fig.4. Fig.

4(a) is the Simulink model for the PID model that will be
compared to the SMC performance. While the parameters’
value of PID is chosen by trial and error. While Fig. 4(b) is the Fig. 5. Performance of unit step response
Simulink model for SMC control.
B. Signal Tracking
The next test is signal tracking. In this test, setpoint changes
are given to the system. Fig. 6 show the result of the test. It can
be seen, the same result as unit step response, PID has a faster
rise time. However, it oscillates before reaching steady-state
(a) Simulink model for PID control condition and makes settling time become longer. When the set
point reduces, PID also has oscillated before steady, while SMC
has not. Detail controller parameters can be seen in Table 2 for
the second set point because the first set point is the same as the
unit step response, Table 1. It also can be seen, when set point
decreases, SMC did not have both overshoot and undershoot.
On the other hand, PID still has a big overshoot and undershoot.

TABLE II. PERFORMANCE FOR SIGNAL TRACKING 2ND SET POINT

Control Settling time Maximum Maximum
(b) Simulink model for SMC control method (second) overshoot (OS) undershoot
PID 1.27 5 6.6
Fig. 4. Simulink model of control system
SMC 0.60 0 0

IV. RESULT AND DISCUSTION

A. Unit Step Response V. CONCLUSION
The unit step response is the basic testing to know the SMC is the robust non-linear control. The basic theory
performance of the controller including settling time and regarding SMC is already discussed. The SMC implementation
overshoot. Fig. 5 shows the step response of the system which is speed control of DC motor also clearly explained. The SMC
is PID and SMC control. It clearly is shown that PID has a faster design implemented in simulation using MATLAB/ Simulink
rise time. However, its settling time is lower due to oscillation
environment. A unit step response and signal tracking test are
before reaching the steady state. On the other hand, SMC has a

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Vol. 2 No. 1, April 2020, Pages 1-4 3
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