Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor

This research proposes a robust nonlinear hybrid control approach to the speed of multi-input-and-multi-output separately excited DC motor (SEDCM). The that was under consideration experienced parametric uncertainties and load disturbances in weak field region. proposed technique aims merge benefits adaptive backstepping (AB) integral sliding mode (ISMC) enhance overall system’s robustness. unknown parameters with are estimated using an adaptation law. These incorporated into controller design, achieve highly controller. theoretical stability system is proved Lyapunov criteria. effectiveness AB–ISMC demonstrated by simulation, track reference disturbances. performance compared feedback linearization (FBL), conventional (SMC), AB laws without Regression parameters, such as square error, absolute time were calculated quantitatively analyze tracking robustness implemented techniques. simulation results could accurately exhibited robustness, steady-state error accuracy. Moreover, overperformed, FBL, SMC, law law, reducing settling factors 27%, 67%, 23%, 21%, respectively, thus highlighting superior