ANALISIS KONTROL FUZZY SLIDING MODE CONTROLLER PADA PENGENDALIAN KECEPATAN MOTOR DC

DC motor is a type of electric motor that has the advantage of speed regulation that is easy to control. However, DC motors do not always work at a constant load, causing the resulting speed to decrease with the size of the load and there are also nonlinearty aspects. Therefore, research was conducted to improve the performance of the DC motor when the load changes. The model of the DC motor system is displayed in a non-linear form, with the control system using a Sliding Mode Controller (SMC) combined with Fuzzy Logic Control (FLC) so that it becomes a Fuzzy Sliding Mode Control (FSMC). SMC serves to limit the motion of the state so that it is always on the desired trajectory. Then the chattering problem that often occurs in SMC is fixed with the application of FLC. The stability of the control system is regulated by the Lyapunov function. The simulation results show that the FSMC control system has better performance results than conventional SMC, with a settling time value of 0.528 seconds. When given a load 10 Nm it produces a steady state error of 0.0025%