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Experimental Setup and Robust Servo DC Motor Position Control Based on Gain
Schedule Sliding Mode Controller

Article in Research Journal of Applied Sciences, Engineering and Technology · May 2012

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Research Journal of Applied Sciences, Engineering and Technology 4(10): 1320-1327, 2012
ISSN: 2040-7467
© Maxwell Scientific Organization, 2012
Submitted: December 20, 2011 Accepted: January 21, 2012 Published: May 15, 2012

Experimental Setup and Robust Servo DC Motor Position Control Based on

Gain Schedule Sliding Mode Controller
1
Ahmed M. Kassem and 2Ali Mohamed Yousef
1
Control Technology Department Industrial Education College, Beni-Suef University, Egypt
2
Electric Engineering Department, Faculty of Engineering, Assiut University, Assiut, Egypt

Abstract: A position control of DC motor servo drive based on the Sliding Mode (SM) approach is presented.
The modeling and analysis of the servo DC motor are obtained. The Sliding Mode Controller (SMC) design
changes such that its performance is substantially improved. To improve the controller performance in steady
stat (zero error) the Integral Sliding Mode Controller (ISMC) is used. Since the main drawback of SMC is a
phenomenon, the so-called chattering, resulting from discontinuous controllers. A ISMC with switched gains
is used for chattering reduction and controller robustness. For comparison, the proposed ISM with switched
gains is compared with that of a PID controller. Experiments and simulations have been carried out in order
to validate the effectiveness of the proposed scheme. The proposed controller offers very good tracking; it is
highly robust, reaches the final position very fast. Furthermore the application of the SM ensures reduction of
the system order by one. Also, quick recovery from matched disturbance in addition to good tracking ability.
Moreover, this scheme is robust against the parameters variations and eliminate the influence of modeling.

Key words:Gain schedule sliding mode control, PID control, robust control, servo DC motor, sliding mode
control

INTRODUCTION desired closed loop performance. Secondly, a control law

AC and DC servomotors (Sharkawi and Huang,
1989; Ghazy, 2002) are in use in many applications.
Particularly, DC ones are used in computer peripherals
and robot manipulators and are characterized by: ability
to produce full continuous torque, controlled braking is
relatively simple and low cost as compared with similar
AC drives at high powers.
Sliding mode control theory was introduced for the
first time in the context of the Variable Structure Systems
(VSS). It has become so popular that now it represents
this class of control systems. Even though, in its early
stages of development, the SMC theory was overlooked
because of the development in the famous linear control
theory. Recently, the variable structure control strategy
using the sliding-mode has been focused on many studies
and research for the control of the DC servo drive systems
(Haque and Rahman, 2001; Ciro et al., 1999; Miran and
Larel, 2004; Rahman et al., 2003; Jawad and Hossien,
2003; Munje et al., 2010; Ahmed, 2005). The sliding-
mode control can offer many good properties, such as
good performance against unmodeled dynamics,
insensitivity to parameter variations, external disturbance
rejection and fast dynamic response (Rahman et al.,
2004). These advantages of the sliding-mode control may
be employed in the position and speed control of an DC
servo system.
The design of SMC consists of two main steps.
Firstly; one can select a sliding surface that models the
is designed such that the system state trajectory is forced
toward the sliding surface. The system state trajectory in
the period of time before reaching the sliding surface is
called the reaching phase. The system dynamics in the
reaching phase is still influenced by uncertainties. Ideally,
the switching of the control should occur at infinitely high
frequency to eliminate the deviation from sliding
manifold. In practice, the switching frequency is not
infinitely high due to the finite switching time. Thus,
undesirable chattering appears in the control effort.
Chattering is highly undesirable because it excites
unmodeled high frequency plant dynamics and this can
cause unforeseen instability (Rahman et al., 2004).
Different studies tried to solve this problem by combining
fuzzy or neural controller with the sliding mode (Nabil,
2005; Luis et al., 2003; Idris and Yatim, 2004).
In this study, the position control of the DC motor in
servo drive has been developed based on SM approach. A
novel scheme using Integral Sliding Mode (ISM)
controller with switched gains has been investigated. The
system responses are compared when PID controller is
applied to the system. A PID controller is selected
because the cost of implementation is inexpensive and is
widely used in industry. SMC methods yield nonlinear
controllers which are robust against unmodeled dynamics
and, internal and external perturbations.
An experiments and computer simulations are
performed to show the validity of the proposed system.
The results obtained with ISMC with changed gains are

Corresponding Author: Ahmed M. Kassem, Control Technology Department, Industrial Education College, Beni-Suef University,
Egypt
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 Res. J. Appl. Sci. Eng. Technol., 4(10): 1320-1327, 2012

Let

Va = u (3)

substituting (1) into (2) and using (3) one gets:

Km d 2θ ⎡ BR + Km2 ⎤ dθ ⎡ 1 ⎤
u = 2 +⎢ α ⎥ +⎢ ⎥ TL (4)
Fig. 1: DC servomotor circuit diagram Rα Jm dt ⎣⎢ Rα Jm ⎥⎦ dt ⎣ Jm ⎦

Table 1: Parameter of the DC motor In state space matrix form, one gets:
Parameters Values
Ra 0.316
La 0.00008 H dx
Km 0.0302 Nm/A = Ax + Bu + Dv (5)
Kv 60/317 Vs dt
Va 24 V
Jm 1.34e-5 Kgm2 where,
compared with the traditional SMC and PID controller.
The advantages and limitations of each method are
discussed. ⎡0 1 ⎤ ⎡ 0 ⎤ ⎡ 0 ⎤
⎢
A= ⎢ 2 ⎥
BRa + K m ⎥ , B = ⎢⎢ Km ⎥⎥ , D = ⎢⎢ 1 ⎥⎥ (6)
−
PLANT DESCRIPTION ⎢0 − Ra Jm ⎥⎦ ⎢⎣ Ra Jm ⎥⎦ ⎢⎣ Jm ⎥⎦
⎣

The plant consists of a DC motor with an inertial with x = [x1 x2]t, x1 = 2, x2 = d2/dt = T, v = TL
load. The DC motor is separately excited and armature
controlled, which schematic diagram is shown in Fig. 1.
and
In this section we proposed to design a controller to
control the motor-load angle speed. The system
x1 Rotor position
parameters is shown in appendix (Table 1). A block
diagram of the DC servomotor with Automatic Voltage x2 Rotor speed
Regulator (AVR) is shown in Fig. 2. u Control input
v Disturbance
Mathematical model: The state equations that describe t Transpose
the DC servomotor behavior (Abdel Ghany and
Bensenouci, 2004) are: THE INTEGRAL SLIDING MODE (ISM)
CONTROLLER
d 2θ Km K f dθ
= i − − TL (1) In this section we will show first the design of the
dt 2 J a J dt
SM controller and later, based on the analysis and
dia R K dθ Va interpretation of the controller block diagram we
= − a ia − b + (2)
dt La La dt La introduce the proposed ISM controller.
The sliding surface F is defined as:

Fig. 2: Block diagram of the DC motor with AVR

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 Res. J. Appl. Sci. Eng. Technol., 4(10): 1320-1327, 2012

Fig. 3: Block diagram of the conventional SM controller

F = e& + C . e = (2r - 2). C + Qr′ - T (7)
where
2r The position reference
C A positive constant
From the second theorem of Lyapunov, the stability
condition can be written as:
1 dσ 2
. = σ .σ& ≤ − K σ (8)
2 dt
where, ½ . F2 > 0 (positive definite) is a Lyapunov
function and K a positive constant. The control voltage
command is calculated by substituting σ and σ& in Eq.
(8) as follows (Orges et al., 2003):
⎡ ⎛ BRa + K 2 m ⎞ ⎤
⎢θ&&r + C .θ&r + ⎜⎜ − C⎟⎟ θ&⎥
R J ⎢ ⎝ Ra Jm ⎠ ⎥
u= a m ⎢ ⎥ (9)
Km
⎢ + 1 T + K . sign (σ ) ⎥ The gain K is switched to a larger value K1 right
⎢⎣ Jm L ⎥⎦
A block diagram of this conventional SM controller is
shown in Fig. 3.
The problem with this conventional controller is that
it has large chattering in the control output and the drive
is very noisy. Furthermore, because of chattering, it is
difficult to achieve small enough positioning error in
steady state (Orges et al., 2003).
To reduce chattering the sign function (infinite gain)
of the conventional SM is substituted with a finite gain K
within a small boundary. This affects controller's
robustness too, but still the controller will remain robust
enough if gain K is chosen large enough.
An infinite or very large gain K increases chattering
because the bandwidth of the Automatic Voltage
Regulator (AVR) is not infinite. We assumed an ideal
AVR and did not include it in the plant model, but this
assumption holds as long as the bandwidth of the outer
control loops do not exceed that of AVR.
The selection of a finite K gain affects the sliding
surface. By choosing a finite, appropriate value for K the
chattering is greatly reduced (Orges et al., 2003). The
constant C basically determines the speed of response. It
is the only parameter, which determines the dynamic of
the system in SM. The choice of the constant C is also
bounded from the AVR bandwidth and the encoder noise.
Large values of constant C tend to faster response, but if
the bandwidth of the AVR is exceeded this will lead in
chattering and it will deteriorate the controller
performance.
To reduce greatly the steady state error an integral
block is added, which forces the system in steady state
toward a zero error positioning. This integral block tends
to slow down the transient response of the control system.
For this reason it is switched on only when the system
approaches the final position. On one hand the sliding
mode tracks the reference very fast ensuring a very small
tracking error till the final positioning is reached and on
the other hand the integral block, taking advantage of the
small initial error, reduces it to zero very fast.
before the position command reaches the desired final
value. The condition of switching is detected when speed
and acceleration signals of the position command have
opposite signs. This gain is returned to its previous value
immediately after the final position is reached. This
ensures a fast and precise stop of the servo. If a large gain
will be applied all the time, chattering in the torque
command will be inevitable. So, we have designed a
controller, which has a very good tracking and reaches
very fast the final position. The controller is also very
robust to the outside disturbances or parameter
uncertainties. A block diagram of the ISMC with switched
gains is shown in Fig. 4.
PID CONTROLLERS
PID controllers are dominant and popular and, has
been widely used because one can obtain the desired

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 Res. J. Appl. Sci. Eng. Technol., 4(10): 1320-1327, 2012

Fig. 4: Block diagram of the proposed ISM controller with switched gains

system responses and it can control a wide class of

5
systems. This may lead to the thought that the PID θr
controllers give solutions to all requirements, but 4

unfortunately, this is not always true (Datta et al., 2000). 3

Alternative tuning methods have been recently presented pos. (rad.) 2
including disturbance reduction, magnitude optimum PID
1
(Astrom and Hagglund, 1995; Yaniv and Nagurka, 2003),
pole placement and optimization methods (Yaniv and 0 SMC

Nagurka, 2003; Kristiansson and Lennartson, 2002). -1

0 0.2 0.4 0.6 0.8 1.0
In this study, the PID optimal tuning method used is
Time (sec.)
found in [Kristians son and Lennartson (2002)]. In this
method, the parameters of PID controller satisfying the
(a)
constraints correspond to a given domain in a plane. The
optimal controller lies on the curve. The design plot 60 SMC
enables identification of the PID controller for desired
Rotor speed (rad/sec)

robust conditions, and in particular, gives the PID 40

controller for lowest sensitivity. By applying this method, PID
trade-off among high frequency sensor noise, low 20
frequency sensitivity, gain and phase margin constraints
are also directly available. 0
The transfer function of a PID controller is given by:
-20
0 0.2 0.4 0.6 0.8 1.0
⎛ 1 ⎞
K ( s) = K p ⎜ 1 +
Time (sec.)
+ TD S ⎟ (10)
⎝ TI S ⎠
(b)
Fig. 5: Time response of the SMC and optimization tuned PIDC
Kp driven DC servo motor
where, K p , and K P TD represent the proportional,
TI
RESULTS AND DISCUSSION
integral and derivative gains of the controller respectively.
1
Define ω n = and ζ = 1 TI as the controller's The purpose of this part is to show the validity and
TI TD 2 TD
robustness of the proposed SMC approaches as applied to
natural frequency and the damping coefficient, a DC servo system. Two SMC schemes are applied to
respectively. Then the PID transfer function can be control the position of the DC servomotor.
written as: Figure 5 shows the position and speed time responses
for step change in the desired position angle (qr) using
ω n2 + 2ζω n s + s2 SMC and PID controllers. It is seen that, applying a PID
K ( s) = K P (11) controller which its parameters has been tuned using the
2ζω n s
optimization method to the system when, there is no

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 Res. J. Appl. Sci. Eng. Technol., 4(10): 1320-1327, 2012

5
1.0 θr
4
0.5
Disturbance level

pos. (rad.)
0 2

1 PID
-0.5
0 ISMC

-1.0 -1
0 0.2 0.4 0.6 0.8 1.0 0 0.2 0.4 0.6 0.8 1.0
Time (sec.) Time (sec.)

(a) (a)
5
θr 60 SMC
4

Rotor speed (rad/sec)

3 40
pos. (rad.)

PID
2
20
1 PID

0 SMC 0

-1 -20
0 0.2 0.4 0.6 0.8 1.0 0 0.2 0.4 0.6 0.8 1.0
Time (sec.)
Time (sec.)

(b) (b)
Fig. 7: Time response of the proposed ISMC and PIDC driven
60 SMC DC servo motor with disturbance
Rotor speed (rad/sec)

40 5
PID θr
4
20
3
pos. (rad.)

0
2

1 PID
-20
0 0.2 0.4 0.6 0.8 1.0
Time (sec.) 0 ISMC

-1
(C) 0 0.2 0.4 0.6 0.8 1.0
Fig. 6: Time response of the proposed ISMC driven DC servo Time (sec.)
motor with parameters changes
(a)

disturbance, the output completely tracks the desired

60 ISMC
position, but with the traditional SMC, the position
Rotor speed (rad/sec)

achieved is slightly lower than the desired value. 40

However, the settling time for SMC is shorter (0.12 sec.) PID
than for PID (0.47 sec.). To remove this obstacle the 20
ISMC is applied to the system.
Figure 6 shows the position and speed time responses 0

using a PID controller and the classical SMC with

-20
matched disturbance, which shown in Fig. 6a. SMC is 0 0.2 0.4 0.6 0.8 1.0
insensitive against the (matched) disturbance and the Time (sec.)
desired position is obtained even in the presence of (b)
disturbance. A well-tuned PID controller may reduce the Fig. 8: Time response of the proposed ISMC and PIDC driven
effect of the disturbance on the system. However, by DC servo motor with disturbance and parameters
applying PID controller, it is impossible to reject the changes

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 Res. J. Appl. Sci. Eng. Technol., 4(10): 1320-1327, 2012

Fig. 9: DC motor drive system configuration

state error) when ISMC is applied, and the disturbance

doesn't affect the position. But when a PID controller is
applied, the system with disturbance, the position and
speed of the servo drive is not steady and oscillates
around the desired position. Appropriate PID can reduce
this oscillation but it is impossible to reject the
disturbance effect completely.
Since our concerns are also in robust stability against
various model uncertainties, some system parameters
have been changed in the following ways:

C The moment of inertia is decreased by 10% to be 1.2

e-5 Kg m2
C The armature rotor resistance, is increased by 20% to Fig. 10: Experimental setup
be 0.38 ohm
C The armature rotor inductance is increased by 15% to 5
be 9.2 e-5 H 4
position (rad)

3
For perturbed system the responses are shown in 2
Fig. 8. It should be seen that the system is robustly stable 1
in spite of parameters variations. 0
-1
Experimental Results: Our experimental setup is
-2
illustrated in Fig. 9. The DC machine parameters used 0 10 20
in the experiments are shown in Table 1. The hardware Time (sec.)
of the drive system consists of a four-quadratic MOSFET
based chopper. The SMC and the switching controller are Fig. 11: Time response of the SMC driven DC servo motor
implemented related to Fig. 3 and 4. The experimental 5
setup is shown in Fig. 10. 4
Figure 11 shows the experimental time response of 3
position (rad)

DC motor position based on SM controller. This figure 2

Table 1: Parameter of the DC motor 1

Parameters Values 0
Ra 0.316 -1
La 0.00008 H
Km 0.0302 Nm/A -2
0 10 20
Kv 60/317 Vs
Time (sec.)
Va 24 V
Jm 1.34e-5 Kgm2
Fig. 12: Time response of the ISMC driven DC servo motor

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 Res. J. Appl. Sci. Eng. Technol., 4(10): 1320-1327, 2012
5
4
position (rad)
3
2
1
0
-1
-2
0 10 20
Time (sec.)
Fig. 13: Time response of the ISMC with gain changed driven
DC servo motor
5
4 Indus. Appl., 35(6): 1399-1405.
position (rad)
3 Datta, A., H. Ming-Tzu and S.P. Bhttacharyy, 2000.
2 Structure and Synthesis of PID Controllers. Adv.
1 Industr. Control, Springer-Verlag, London.
0 Ghazy, M., 2002. State of the art control techniques used
-1
-2
0 10 20
Time (sec.)
Fig. 14: Time response of the PID controller driven DC servo
motor with external disturbance
shows the position response has a chattering and steady
state error. To improve the system response, a ISMC is
used instead of SMC but the response still has chattering
as show in Fig. 12 which shows the system response has
zero steady state error.
Figure 13 shows the system time response with the
proposed ISMC with gain changed. This figure shows the
system response has zero steady state error and without
chattering and the disturbance doesn't affect the position.
While the external disturbance affect the position when
PID controller is used as shown in Fig. 14.
CONCLUSION
In this study, SMC, ISMC with switched gains and
PID controllers have been considered for controlling the
position of DC motor in servo drive. A comparison
method has been studied to show the relative advantages
and limitations of each method. PID controllers are
suitable if there is no disturbance in the system. However,
the settling time is longer than when SMC is applied to
the system. Using a ISMC the desired position is
obtained, whilst when the SMC is used, the desired
position is tracked only if one considers an SMC with
very high gain. More over disturbances don’t affect the
system in the sliding mode.
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