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Control of DC motors using sliding mode

Conference Paper · January 2012

DOI: 10.1109/IBCAST.2012.6177523

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 CONTROL OF DC MOTORS USING SLIDING
MODE
Ghulam Murtaza*,A. 1. Bhatti**
Dept. of Electronics Engineering, Mohammad Ali Jinnah University, Islamabad, Pakistan
*gmurtazza@yahoo.com,* *aib@jinnah.edu.pk
Abstract-DC motors have been extensively used in many
industrial applications for their accurate, simple and continuous
control characteristics. This paper addresses the controlling of
the speed of DC motor which remains among the vital issues. It
presents sliding mode control, integral sliding mode control and
dynamic sliding mode control methods to control the speed of
DC motors. Also the merits and demerits of each approach are
discussed. Sliding mode control (SMC ) is robust to the matched
uncertainties and the desired performance/speed is attained.
But the main drawback of SMC is chattering, resulting from
discontinuous controllers, various techniques are presented to
minimize chattering. The performance of the dynamic system
with integral and first order dynamic SMC is compared with
response of the system with SMC controller. The results show
that the integral and specifically dynamic SMC are more robust
against matched uncertainties, the desired speed is perfectly
tracked and chattering reduction is achieved.
I. INTRODUCTION
Electrical derives involving various types of DC motors
turn the wheel of industry. More than 50 percent of the
generated electrical energy is consumed in motor derives in the
developed countries [8]. DC motors are comprehensively used
in various industrial applications such as electrical equipment,
computer peripherals, robotic manipulators, actuators, steel
rolling mills, electrical vehicles, paper machine etc. Its appli­
cations spread from low horse power to the multi-mega watt
due to its wide power, torque, speed ranges, high efficiency,
fast response, simple and continuous control characteristics[3]
and [8].
Controlling the position/speed of a DC motor is a pivotal
issue. Conventionally armature control method has been used
for controlling the speed of the dynamic system, but the
controllability, being economical and their compatibility with
the novel mechanical and electrical equipments like digital
systems are the factors which have made its use widespread
[2,6].
In the presence of uncertainties and disturbances in a
system, an appropriate control needs to be designed to achieve
the system's stability and desired performance. Sliding mode
control (SMC) is not sensitive to the matched uncertainties
and external disturbances. To control a broad class of linear
and nonlinear systems, the robustness of SMC has made this
technique to be a profound and most appropriate one [2]. A
SMC is designed such as to force the system trajectories to
978-1-4577-1929-5/12/$26.00 ©2011 IEEE
Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST)
Islamabad, Pakistan, 9th - 12th January, 2012
move onto a pre defined surface within finite time and ap­
proaches to an equilibrium point all along this surface[6]. The
closed-loop dynamics of the system is absolutely controlled
through the switching function' equations provided the system
trajectories remain on this surface. Basically, in sliding mode
the system,s order is reduced equal to number of switching
surfaces/ that of control inputs, which subsequently reduces
the degree of freedom apart from the integral sliding mode
control (ISMC)[5] and dynamic sliding mode control (DSMC)
or when the system is operating (pre sliding mode) under the
designed sliding mode compensator. Robustness and flexibility
of designing SMC are its foremost advantages.
In the prior work, the position/speed control problem has
been worked out by control schemes as optimal control based
feedback linearization [3,11] which is not a robust technique.
Similarly PID the most common control designing technique
unable to stabilize the nonlinear plants or in the presence
of a bounded but high uncertainties. A SMC , PI/PID SMC
and ISMC control designing techniques[2,10] have resolved
the subject like robustness, parameter invariance etc. but the
core issue with these approaches, the chattering as a result of
discontinuous control (the main drawback of SMC) is notably
reduced with the dynamic sliding mode control (DSMC) as
presented in this work.
The paper has been composed as follows: In Section 2,
model of the system is appreciated. In Section 3, open loop
stability analysis is discussed. A SMC, Integral SMC and
Dynamic SMC controllers are designed in Section 4. In
Section 5, simulation results are shown. Finally in Section
6, conclusions are presented.
II. MOTOR DYNAMICS
The structure of the dynamic system is as shown in Figure
1. The control of the motor's speed with great precision is
required in most of its applications. A desired speed can be
achieved when a desired shaft position is tracked.The reference
signal determines the desired speed/position and the control
is designed to ensure difference between the reference input
and system's output ultimately approaches to its minimum
value, preferably zero. In this work voltage is applied as an
input to control permanent magnet the DC motor. To achieve
the desired performance/speed a constant value of voltage
37
 It is assumed that
Xl =Zl and Xl =X2
The conversion of system model into canonical form is as
below:
Xl =X2
X2 =DIXI + D2X2 + bl u
( =Xl
where DI =d2d3 - dld4, D2 =dl + d4
DC Motor and bl =d2b
Later on the system in this form will be used for various
Fig. 1. DC Motor Structure controller designing schemes.

III. OPEN Loop STABILIT Y ANALYSIS

as a reference signal is applied to the system for simplicity.
Though, it works successfully for any reference signal. Since the eigen values of matrix A are (-1.38 and -86.29)
The electrical and mechanical equations of a DC motor's i.e real, distinct and lying in the -ve half plane. So matrix
model [3] are given as under: A is Hurwitz and the equilibrium pt (0,0) is a stable node.
Va =RaIa + La dIt + Vb However stability of the dynamic system can be analyzed by
��
T =J + BdW + 11 an alternative way.
T =KtIa
Vb =KbW A. Lypunov Direct Method
where the physical parameters are described as
Va: Supply voltage,(v) Assume V(z) = zTpz is a positive definite Lyapunove
Vb: Back emf, (v) candidate function. where � is a real positive definite sym­
Ia: Armature current, (amp) metric matrix. Then the V(z) along the system's trajectories
La: Inductance of armature, (h) will be
Ra : Armature resistance, (ohm) V ( z) =ZT Pi+ iTpz=_ZTQZ
Bd: Damping ratio,(Nms) The derivative of V will be negative definite, if for positive
Kt: Torque constant, (NmJamp) definite symmetric matrix Q, the matrix P obtained by solving
Kb: Motor constant, (v-s/rad) the Lyapunove equation
2 2
J: Moment of inertia, (kg.m /s ) AP+ ATp=-Q
w: Speed of shaft, (rad/s) is a real symmetric positive definite. where A is a Jacobian
11 : Torque load matrix of the system at origin. As the matrix P obtained is
Suppose the state vector is defined as: P = [0.389, -0.0029; -0.0029,0.0058]
[Zl,Z2] = [w,Ia]T The matrix P is positive definite because all the principle
Let us define the new parameters as minors of P are positive, all of its eigen values ( 0.0058,0.3886)
dl =-Bd/J , d2 =Kt /J, are also strictly positive and determinant of P is also +ve. Thus
d3 =-Kb/La, d4 = -Ra/La the matrix A is a stability matrix. The Lyapunove function
b=1/La , U =Va candidate V(z) is a Lyapunove function for the system. Hence
The state space depiction of the model is by Lyapunov direct method the dynamic system is stable and
il =dlzl + d2z2 - 1) global asymptotic stability is guaranteed.
i2 =d3z1 + d4z2 + bu
y =Zl IV. CONTROLLER DESIGN FOR DC MOTOR
=} i=Az+ Bu + H
and where In this section three sliding mode controller designing
A= [dl,d2; d3,d4] techniques like Sliding Mode Controller (SMC), Integral
B = [O·..l.. ] H = [_'!l . 0] u =Va Sliding Mode Control (ISMC) and Dynamic Sliding Mode
, La ' J"
Here A is a state matrix, B is the input matrix, and H Control (DSMC) are discussed comprehensively to achieve
is a load torque (external disturbance) matrix that produces the robustness, desired performance, system stability in the
an undesired effects on the response of the dynamic system. reaching phase as well as in the sliding phase against the
whereas y is the system's output. To find a straightforward parametric variation, un-modeled dynamics, matched uncer­
sliding mode system, the system's dynamics is transformed tainties/disturbances and the undesired chattering reduction
into a controllable canonical form. Evidently, the results may (which is caused by the switching of the discontinuous control
be represented in terms of the actual physical states of the with high frequency and is considered a setback as for the
system in state space form [2]. practical implementation of sliding mode methods).

Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST) 38
Islamabad, Pakistan, 9th - 12th January, 2012
A. Sliding Mode Control 0.05 ,---�-----,
Disturbance Phase Plane
10,..----,

In this subsection, the sliding mode controller is designed

r·_,:··SV
for the dynamic system with matched uncertainty.
Consider the dynamic system in the controllable canonical
form:
'-------' -20
-0.05
o 0.05 0.1 0.15 0.2 0.5
Time(sec) x1

(1) Control Input with SMC

30
Switching Function (SMC)

�
c

( =Xl
o

20
u.
where DI= d 2 d 3 - dld4,D2 = dl+ d4, bl= d2 b �
E
10
.8
and Td = -1)
is supposed/considered as a matched uncer­ � 0 \'--��--���
tainity/external disturbance. 0.1 0.2 0.3 0.4
The control system may be summarized with this assump­ Time(sec) Time(sec)

tion as
=}x =f(x)+ B(x)u + d(t,x) (2) Fig. 3. Control Law(SMC), Sliding surface, Phase portrait and load torque.

where the function d(t,x) represents the perturbation/external Chattering Phenomenon with SMC

disturbance fulfils the matching condition. 0.2 r-----�_----�---__,

=}d(t,X)E span B(x) and B is full rank. 0.15

Suppose the switching function is defined by

s=PXI+ X2 , 0.1

s=PX2 + DIXI+ D2 X2 + blu + d(t,x)

On the sliding surface i
u.
0>
s=O=}s=O C

So equivalent control will be �

� -0.05

Ueq =-ljbl(DIXI+ (p + D2 )X2 + d(t,x))

-0.1
Suppose control law is defined as
U =Ueq - Msign(s) with M > Id(t,x)jbll -0.15

which enforces the system's trajectories onto the switching

surface within a finite time and make sure that the trajectories
remain on this surface subsequently.
The equation of motion of the system under sliding mode
will be
Xl=-PXI, where p > 0 is a performance parameter.
which guaranteed the stability as well as insensitivity of the
system to matched uncertainties, parametric variations and the
external disturbances in the sliding mode.
Speed Responce with SMC
0.8
0.6
-0.2 '------�'---'--'
0.16 0.165 0.17 0.175
Time(sec)
Fig. 4. Chattering phenomenon with SMC
The system dynamics are governed by the sliding mode
(reduced order) equation [2]. There are two shortcoming
of SMC technique. First one is the chattering as a result
of discontinuous control and second one being un-modeled
system dynamics/imperfections may cause instability in the
reaching phase (before the occurrence of sliding phase). The
simulation result in figure 4. depicts a noticeable chattering of
amplitude (0.083). To deal with these issues the two methods
integral sliding mode control (ISMC) and dynamic sliding
mode control (DSMC) are discussed comprehensively in the
subsequent sections.

B. Integral Sliding Mode Control

0.2
The robustness characteristics with respect to the variation
in the system's parameters and external disturbances can be
achieved by using conventional SMC. However as in the
0.2 0.4 0.6 0.8
reaching phase the system does not possesses the insensitivity
Time(sec) property as in the sliding mode. So un-modeled dynamics and
disturbance/ parametric variation may cause instability in this
Fig. 2. Speed response of the dynamic system with matched uncertainty phase. Secondly, chattering caused by discontinuous control
oftenly exciting the un modeled dynamics and is considered

Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST) 39
Islamabad, Pakistan, 9th - 12th January, 2012
as a problem for practical implementation of sliding mode 0.05
Disturbance
100
Switching Function (ISMC)

control. The Integral SMC deals with both of the above c

0 80

mentioned issues, the first one by eliminating the reaching �

g- �u. 60
I- 0> 40
phase, unlike the usual SMC approach. The order of system
E
" c
�
0
.8 20
in sliding mode remains same like that of novel system instead ...J
.�
rIJ
of the reduction in its dimension equal to the number of its -0.05
0 0.005 0.01 0.02 0.04
switching surface/control inputs, which provides more degree Time(sec) Time (sec)
Control Law (ISMC) Integral Term (ISMC)
of freedom than SMC. So from the very beginning time instant 100

the robustness of the system can be guaranteed throughout 80

'5 0

() (
the entire system's response [5,10]. Another shortcoming, the k 60

chattering is diminished/reduced by passing the discontinuous � -100

M
x
40

control through low pass filter (integral term) before the plant
0
20 \.
-200
0
to generate the sliding mode.
0.005 0.01 0.2 0.4
Let us define control law for the dynamic model of DC Time(sec) Time (sec)

motor in controllable canonical form (1) as

U =Uo+ U1 Fig. 6. Control Law, Switching surface, Integral term and load torque (lSMC)
where Uo, is continuous control part of the controller and
is designed to achieve the desired performance whereas U1, is Chattering Phenomenon with ISMC
0.2 r--�-�-�-�--�-�-�----'

a discontinuous part to be designed for the elimination of the

perturbation/disturbance d(t,x). 0.15

Assume the switching function in this case is defined as 0.1

s=so(x)+ X , with so(x),XER2

�
�rIJ
0.05
This switching function is composed of two parts; the
so(x) = eXl + X2 ensures the performance (as in the usual 0>
C
E
Sliding Mode technique) whereas the term X provokes the .8
� -0.05
integral term. It can be evaluated as under.
s=s'o+X -0.1

s=D1Xl+ (e+ D2 )X2 + b1UO+ b1U1+ d(t,x)+X

-0.15
Suppose
X =-(DIXI+ (e+ D2 )X2 + b1UO) 0.245 0.25 0.255 0.26 0.265 0.27 0.275 0.28

withX(O)=-so(x(O)) Time (sec)

where X(O) is obtained based on the condition s(O)=O (the

beginning point for the occurrence of sliding mode ). Fig. 7. Chattering phenomenon with ISMC

=}s=b1U1+ d(t,x)
s=0
So on sliding surface
-
U1 Tb1el
U1=-Msign(s) with M > Id(t,x)1 i;
In the sliding mode the system's equation of motion is
=f(x)+ b1UO
As in sliding phase the system's equation of motion remains
only the linear system and the order of the system in sliding
Speed Responce with (ISMC)
mode is same as that of the novel system. So the system's
stability is guaranteed in the reaching phase as well as in the
0.8
sliding phase.
Since Uo = -kx The gains ki can be chosen by pole
0.6
placement
1) Convergence Analysis: By considering V
l
" Lyapunov candidate function
� 0.4
rIJ 17=ss
17=s(-Msign(s)+ h(t,z)jbd
0.2
17<0 if M > Ih(t,z)jb11
Hence in the integral sliding mode, s = 0 is a stable
equilibrium point which ensures the existence of sliding mode
0.1 0.2 0.3 0.4 0.5
in the presence of matched disturbances/uncertainties.
Time (sec)

C. Dynamic Sliding Mode Control

Fig. 5. Speed response with ISMC (matched uncertainty) The dynamic sliding mode control (DSMC) is also a robust
SMC technique to the matched uncertainties/disturbances,

Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST) 40
Islamabad, Pakistan, 9th - 12th January, 2012
parametric variations and un-modeled dynamics. This method 0.05,..-----,
Disturbance Switching Function

50
retains the main advantages of SMC and ISMC and is more c
o

�u. I
effective than these approaches regarding the chattering min­
imization and the performance enhancement and system's !!g U 0 . '"
:E -50

stability throughout an entire system's response from initial B

� -100
time instance [1,7]. In this technique the control law consists -0.05
'-------'
o 1
of a dynamic continuous controller, which ensures the sys­ Time(s) Time(s)
Control Law Udol Responce
tem's stability and a dynamic discontinuous controller which 30,-----,

effectively rejects the uncertainties/external disturbances[I].

=> 20
For the dynamic model of DC motor in controllable canon-
ical form (1)
ig. -0.1
� 10

8
�ith ( =Xl as the output of the system.
-0.2 .

( =X2 -10
�
0 .,-
I '---
--- ----'
-'----
1
( =DlXl+ D2 X2 + blu Time (s) Time(s)

c: =DlXl+ D2X2 + blU

c: =DlX2 + D2 (DlXl+ D2 X2 + bl u + Td)+ hU Fig. 9. Control Law, Switching surface, udot and load torque (DSMC)

c: =<I>(Xl,X2 ,U)+ blu

Chattering Phenomenon (DSMC)
where 0.2 ,..---�-�-�-�-�F""'----n

<I>(Xl,X2 , u)=DlD2 Xl+ (Dl+ D§)X2 + D2 bu + D2 Td

0.15
The system has relative degree one, which shows that the
system is input-output linearizable. 0.1

Let (1 = ( , then the transformed system in controllable

canonical form will be as
�c
0.05

u.
(1=(2 g>
E
(2 =(3 B
� -0.05
(3 =<I>(Xl,X2 ,U)+ blu
Suppose the dynamic switching surface is defined as: -0.1

S=Pl(+ P2 (+ ( -0.15

where PI and P2 are the performance parameters.

S=Pl(1+ P2 (2 + (� -0.2 '---�-�---'--�-�----�---'
1.62 1.622 1.624 1.626 1.628 1.63 1.632 1.634 1.636

S=Pl( 2 + P2 (3 + <I>(Xl,X2 , u)+ hu Time (sec)

For the Dynamic SMC the strong reach ability condition is

Fig. 10. Chattering phenomenon with DSMC
considered as
S=-k(s+ wsign(s))
where 0 < wk < 1
Its first part ensures the desired performance where as
and k is the upper bound of the magnitude of the perturba­
second part plays a vital role in chattering reduction.
tion/disturbance d(t,x).
u =-1/bl(Pl( 2 + P2 (3 + <I>(Xl,X2 , u)) - k(s+ wsign(s))
1) Existence of Sliding Mode: Consider a Lyapunov can­
Speed Responce (DSMC) 2
didate function V = � s which satisfies the conditions of
Lyapunov candidate function ( i.e. it is a locally positive
definite, V(O )=O,and V(s) > O.
Then the sufficient condition for the existence of sliding
mode is V < 0 (negative definite).
V =ss
V =s(-k(s+ wsign(s))
V < 0 for positive value of k.
=} V is negative definite
Hence the convergence of the dynamic sliding mode control
is guaranteed.

V. COMPARISON OF SIMULATION RESULTS

Time (sec)
To validate the effectiveness of the different controller
schemes the simulation results are presented in this section.
Fig. 8. Speed response with DSMC (Load torque after (l sec)) The system parameters considered for simulations [3] are
as follow:

Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST) 41
Islamabad, Pakistan, 9th - 12th January, 2012
 i'l

�
� 0'2
:
Comparison of Chattering Phenomenon

. : : SMC ( 0.083)
[4] Edward C. and Spurgeon, S. K., "Sliding mode control: theory and
application, ", Taylor and Francis, London,1998.
[5] Vadim Utkin and Jingxin S hi, " Integral Sliding Mode in Systems

! :�
Operating under Uncertainty Conditions", Proceedings of the 35th

i : -0
2.235 2.24 2.245 2.25 2.255 2.26 2.265
Conference on Decision and Control Kobe, Japan December 1996
[6] A. J. Koshkouei, and A. S. 1. Zinober, " sliding mode controller-observer

• •
O = . . . . . . . . . . . . . . . . . . . . . •
.
. . . . . . . . . . . . . . . . . . . . . . . . C ( 0 034)
design for SISO linear systems.", Int. J.systems Science, 29, 1363-1373,
1998.
[7] A. J. Koshkouei, K. J. Burnham, and A. S. I. Zinober, " Dynamic sliding
: :. : : mode control design.", lEE Proc.-Control Theory Appl., Vol. 152, No.
:§
.

US -0.2
:
'
: : 4, July 2005.
1.24 1.245 1.25 1.255 1.26 1.265 [8] Weiyao Lan and Qi Zhou, " Speed Control of DC Motor using Compos­

t::i I ] t I
ite Nonlinear Feedback Contra!.", 2009 IEEE International Conference
I--O�"O�) on Control and Automation Christchurch, New Zealand, December 9-11,
2009.
[9] Bartolini, G., Ferrara, A. and Usai, E., " Chattering avoidance by
second-order sliding mode contro!.", IEEE Trans. Automat. Control, 43,
3.235 3.24 3.245 3.25 3.255 3.26 3.265
Time (sec)
241-246, 1998.
[10] G. Jee, S. K. Zachriah, M. V. Dhekane, D. B. B. Das, " Comparison of
LQR, feedback linearization and back stepping based control laws for
Fig. 11. Comparison of chattering phenomenon suppressing wing rock.", Proceeding of the international conference on
aerospace science and technology, bangalore, India, Jun, 2008.
[II] Kristiansson, B. and Lennartson, B., " Robust and optimal tuning of PI
and PID controllers.", lEE Proc.Control Theory and Applications, 149,
Ra 2.06, La 0.0238, kt 0.0235, kb 0.02352 Ed
= = = = = \7-25, 2002.
12 X 10-4,J 1.07 X 10-4,Tl 0,11 0.03.
= = =

Figures 2, 5, and 8 depict the robust speed response of DC

motor using SMC, ISMC and DSMC in the presence of load
torque (0.03) as a matched uncertainty/external disturbance.
The control laws, switching functions, phase plane, integral
term (ISMC), udot (in DSMC) and disturbances for each case
are shown in the figures 3, 6 and 9. The convergence of
each approach can also be seen from the subplots in each
of figure. For the integral sliding mode control (ISMC) and
dynamic sliding mode control (DSMC) the dynamic system
is stable and robust in the entire state space. The figures 4,
7 and 10 represent the chattering phenomenon respectively
whilst the figure 11 corresponds to the comparison of the
chattering phenomenon, which shows that the chattering (the
shortcoming) of SMC is significantly reduced with dynamic
sliding mode controller.

VI. CONCLUSION

In this paper SMC , ISMC and DSMC controller are

considered for controlling the speed of DC motor. The rel­
ative advantages and limitations of each method are studied.
Robustness, performance and parameter invariance is achieved
in the presence of external disturbances, un-modeled dynamics
and against the matched uncertainties/disturbances. However,
chattering (the main drawback of SMC) is reduced signifi­
cantly with the ISMC and DSMC techniques. The Dynamic
SMC has shown better results specially in chattering reduction.

REFERENCES

[I] Qudrat Khan, Aamer Iqbal Bhatti, Sohail Iqbal, and Mohammad Iqbal,
"Dynamic Integral Sliding Mode for MIMO Uncertain Nonlinear Sys­
, International JOWllal of Control, Automation, and Systems
tems"
(2011) 9(1):151-160, DOl 10.1007/s12555-011-0120-8.
[2] Ali J. Koshkouei and Keith J. Burnham, "Control of DC Motors using
Proportional Integral Sliding Mode ", Control Theory and Applications
Centre, Coventry University, Coventry CV I 5FB, UK
[3] Morteza Moradi, Ahmad Ahmadi and Sara Abhari, " Optimal control
based feedback linearization for position control of DC motor", 978-1-
4244-5848-6/10 2010 IEEE.

Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST) 42
Islamabad, Pakistan, 9th - 12th January, 2012

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