SLIDING MODE BASED CONTROL AND OBSERVER DESIGN FOR SERIES DC MOTOR VELOCITY REGULATION

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This paper presents methods for designing sliding mode based control and observer using feedback linearization in order to obtain a linearized model of the system. Control and observer have been designed for a series DC motor, nonlinear system where the feedback linearization method is applied. A small number of studies examines the case when the armature current is estimated, and the sensor for the rotor velocity is present. The motivation for implementing feedback regulation based on estimated variables in practical applications lies primarily in reducing system costs. It is assumed that the angular velocity of the series DC motor can be measured, and sliding mode observer is used to estimate the armature current. The sliding mode control based on the so-called power rate reaching law is used. Its main characteristic is minimizing chattering, both in the control signal and the switching function. Due to the singularity at the start of the experiment when the armature current is zero, its value is constrained. It is experimentally shown that the estimated value converges to the measured output signal value of the series DC motor. The same holds even in the presence of white noise with a standard deviation of 1.0, although the effects are noticeable under these conditions. The presented simulation results are obtained using the Matlab/Simulink environment and are provided at the end of the paper.

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