Dynamic SMC control scheme with adaptively tuned PID controller for speed control of DC motor

Abstract

In this paper, an Adaptive PID with dynamic sliding mode control technique is proposed to control the speed of a separately excited DC motor. Speed control is done using Sliding mode control (SMC) and Dynamic sliding mode control techniques and to overcome their drawbacks the new controller is designed. The performance of the designed controller is evaluated via MATLAB simulations using linear model of the DC motor with known disturbance. Improvement in the performance of SMC and elimination of chattering is achieved by the proposed adaptive PID with dynamic sliding mode controller.