Robust Control of DC Motor Using Fuzzy Sliding Mode Control with PID Compensator

In this paper, a robust control system with the fuzzy sliding mode controller and the additional compensator is presented. The additional compensator relaying on the slidingmode theory is used to improve the dynamical characteristics of the drive system. Sliding mode control method is studied for controlling DC motor because of its robustness against model uncertainties and external disturbances, and also its ability in controlling nonlinear and MIMO systems. In this method, using high control gain to overcome uncertainties lead to occur chattering phenomena in control law which can excite unmodeled dynamics and maybe harm the plant. Different approaches, such as intelligent methods, are used to abate these drawbacks.. In order to enhancement the sliding mode controller performance, we have used fuzzy logic. For this purpose, we have used a PID outer loop in the control law then the gains of the sliding term and PID term are tuned on-line by a fuzzy system, so the chattering is avoided and response of the system is improved against external load torque here. Presented simulation results confirm the above claims and demonstrate the performance improvement in this case.