A novel approach to compare a Sliding Mode Controller with a CRONE Controller in frequency domain: Application to a linear DC motor

摘要

This paper presents a novel approach to compare a smoothed first-order Integral Sliding Mode Controller with a second generation CRONE Controller in the frequency domain. Sliding mode control is a nonlinear control technique based on variable structure control offering insensitivity to modeling parameters variations and disturbance rejection. The chattering problem caused by high frequency switching in the sliding mode can be reduced by using a smoothed function for the switching. The novelty in the approach lies in the representation of the SMC Controller as an equivalent PI controller in order to be able to do the comparison with the CRONE controller in the frequency domain. This new approach is applied on a linear model of a DC motor with speed control. The robustness is then explored for the case of harmonic load disturbances in the motor.