Sliding Mode Control-Based Modeling and Analysis of Permanent Magnet DC Motors

This paper developed a complete modeling and control framework for a permanent magnet direct current (PMDC) motor designs a first-order sliding mode control (SMC) with boundary-layer based on chattering reduction. The motor electrical and mechanical dynamics are derived in state-space form the equivalent-switching decomposition of SMC is obtained analytically. Simulation results in MATLAB/Simulink, under nominal and perturbed parameters, show that the proposed SMC archives an 86% reduction overshoot and 73% faster disturbance-recovery time significantly compared to a tuned PID controller. The controller is computationally simple and suitable for real-time implementation on low-cost DSPs platforms.