SIMULATION OF DC SERVO MOTOR POSITION CONTROL USING SLIDING MODE TECHNIQUE

Generally, the DC servo motor systems have uncertain and nonlinear characteristics which degrade performance of controllers. Based on these reasons, Sliding Mode Control (SMC) is one of the popular control strategies and powerful control technology to deal with the nonlinear uncertain system. In this work, a controller based on the Integral Sliding Mode Controller (ISMC) is proposed and designed for controlling DC motor in a servo drive. The modeling and analysis of the servo DC motor are obtained. To improve the controller performance in steady state (zero error), ISMC is designed and evaluated. Since the main drawback of SMC is a phenomenon, that called chattering resulting from discontinuous controllers. An ISMC with switched gains is used for chattering reduction and controller robustness. For comparison, the proposed ISMC with switched gains is compared with that of a PID controller. The proposed controller offers very good tracking, also it is highly robust and controlled plant reached very fast to the final position. 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. Moreover, this scheme is robust against the parameters variations