A discrete-time sliding mode speed controller with disturbance compensation for a 5kW DC motor
The digital speed control systems of a DC motor are treated in this paper. The parameters of DC motor were not known, so that the parameter estimation and model identification is carried out first. Two control systems are considered: a classical discrete PI controller and a discrete-time sliding mode controller. Problems of robustness to matched parameter uncertainties and outer disturbances were addressed by comparing PI controller outputs with DT-SMC controller with disturbance compensator. These control systems were compared in MATALB/Simulink, and on the laboratory setup using three characteristic scenarios. At the end, experimental results are compared with the results obtained by simulation.