Sliding mode control is one of the robust control which can handle known uncertainties. It works by forcing the output state trajectory of the system towards our predefined sliding surface, so that it will slide on our surface in subsequent time. You can download the presentation file here, the title is “Simulation and Implementation of Servo Motor Control with Sliding Mode Control (SMC) using Matlab and Labview”.

The Matlab file will not be shared, I think the simulation is not difficult you can write in S-Function or by calling ODE solver from m-file. LabView source code can be seen (seeing source code or reading it :D) in the presentation file. I hope It is useful for the sake of education, sharing knowledge to the world -at least this is what I can do for now :(, hope I could give something useful to human being before I die-. Btw, if there’s something wrong with the equation please let me know. Oh and..don’t expect too much from the presentation file, I only did this less than 2 weeks, plus I am new to LabView and Matlab S-Function T_T.

After the encoder is installed to the motor I will post the video here, insyaAllah. Hope It will not take too much time for the experiment.

Updated 2008-05-07:

I did the experiment last february 2008, just able to upload it now caused by my laziness :D. I forgot to add in the presentation file, the inverter input is only positive DAC value from 0 to 10 V. Thus, if the control output is negative you need to make additional circuit to switch the direction (from forward to reverse, vice versa). (Look at my posting about the “Basic Switching Circuit”), also for safety you must add switches and hardwired to the inverter. Here are the setup and the video:

SMC AC Servo Motor experiment

Video:

Update 2008-12-08

The simulation file can be downloaded here (rename to .zip), written on LabVIEW 8.5, all the derivation can be found on the pdf (ppt).

Update 2010-01-15 (OMG, more than a year already :p)

I admit that output response in this video was not that good since it was not tuned (I am lazy to upload the new one). The final result, after tuning the control parameters, the whole result can be seen in here. It is fully programmed using LabVIEW & LabVIEW (RT).

hey i need to control two servo’s using matlab.. but DC
do u have any ideas?

Hi. I never use the Matlab’s hardware. By the way I heard that Matlab is more easier since from the simulink you can directly send command to the hardware. I my case I need to port from Matlab to LabView.

2 DC Motors? Are you going to control independently or does it have kinematics formula?

Aku ini pelajar dari Malaysia ingin belajar tentang PISMC, boleh kau ajarkan? Tau tak mana2 website yang ajar tentang PISMC ini? Kau tau pasal LQR (linear quadratic regulator)?

Wa’alaikumsalam warahmatullah,

Saya hanya pengguna sahaja, ilmu saya sikit sekali. Banyak sumber yang bisa dijadikan rujukan. Salah satunya library dari UTM, coba kamu cari-cari disana thesis master student. Salah satu buku rujukan yang mudah dicerna Applied Non Linear Control oleh JJ Slotine. LQR saya pernah belajar tapi belum pernah diaplikasikan langsung ke device.

nice work here, i quite agree with your contributions to engr. you know changing the world starts bit by bit and not a one time thing so pls keep it up : )

hi frend
i’m really interest with ur project using lb View

i’m really glad if u let me to learn ur labview program using sliding mode controller

thanks before
best regrads

Hi arie,

I uploaded the simulation file, check on this page. As you already know, programming language is only tool. The derivations are there in the pdf (ppt file). Hope it is useful. 🙂

Note that the PISMC is better since it is 2nd order and has the P and I on it. You can check on my blog at the other article.

i want to control Simple 12v dc motor using sliding mode control using matlab.

can u provide me the required infomation .
thanks in advance

Wa’alaikumsalam Warahmatullah,

Since you are using the Matlab, you also need the Matlab’s Hardware. However, I don’t have any experience in using Matlab’s Hardware. The derivation of the dynamics and the controller is there on the pdf, it is simple since it is SISO (Single Input Single Output).

Now,I on researh about Electronic drive by wire(using theory sliding mode control for control engine speed via throttle angle control),and this mention is very hot issue in automotive technology at present.
I using dc servo motor for control the angle of throttle vale,and when experiment I using sliding mode theory solve the topic and using matlab to operating.
The problem ,If your using ADC interface is sample time of ADC.But that is vary easy to solve the problem,I using microcontrol interface combine wite matlab.That the solution is very good,and your don’t serious about sampletime limited ,you able to aspect sample time refer to ability of ADC card. After that your using espectially output analog from ADC to tric (input)to Microcontrol.

Finally,another detail have many,If you want to know technique for solve the problem about servo motor(DC) and matlab simmulink,your able to contact to me with this e-mail above czaabaryo@hotmail.com.

Hi Tossa (I remove the 4 characters of your name). It is nice work that you have there, you might want to share what you have done and related file in your blog. The benefits of LV real time are fast and easy development of the program, however with quite expensive price to bargain with though :p. I am not sure what you mean with adc sampling time, well if you have FPGA you can get at most 25 ns per sampling depends on the module though.

hi Novandy
i m working on sliding mode controlmy project is the position control of Ac servo motor bySMC but implementation is in FPGA can u tell me what are the necessary steps i should perform for ex-mathematical modeling,simulation in MATLAB,implementation of control algorithm on FPGA, and one thing how to apply the sliding mode control to Ac servo can u tell me the brief justification so it will be benifical for my final project and if any person who is working on FPGA specially on VERTEX board kindly give me the mail so we will discuss what will be the necessary steps for FPGA coding now i m working on the FPGA but it is a SPARTEN-3 starter board my guide tell me to contol the position by SMC using FPGA(Vertex board)
kindly help me
have nice day

Hi priyant, are you going to focus on the FPGA programming or in the controller design? For SMC you can start reading the ppt file, also the LabVIEW file is provided. Btw, tell me about your hardware, drivers, etc..

hi Bondhan good morning
my hardware is AC servo drive Model no-(APD-VS01NL)
AC servo motor:Model no-APM-SB01ADK output 100w,3000rpm,encoder:2500p/t inc(2) from MECAPION
companey and VERTEX-board i dont know the excat no now but i tell u one thing can u give ur email id so that we will discuss the sliding mode controller implementation now i m focussing on FPGA programming but my guide told me to do the parallel work currently so i m decided to work on controller design and mmathematical modelling of AC servo if possible kindly help me

salaam
I am master student in iran and I would like know any detail about sliding mode control for electrical motor specially induction motor.
but at first I want know about your project (Simulation and Implementation of Servo Motor Control with Sliding Mode Control (SMC) using Matlab) and I would like have matlab source code.
tanks .
fi amane allah

hi Bondhan
my hardware is AC servo drive Model no-(APD-VS01NL)
AC servo motor:Model no-APM-SB01ADK output 100w,3000rpm,encoder:2500p/t inc(2) from MECAPION
companey and VERTEX-board i dont know the excat no now but i tell u one thing can u give ur email id so that we will discuss the sliding mode controller implementation now i m focussing on FPGA programming but my guide told me to do the parallel work currently so i m decided to work on controller design and mathematical modelling of AC servo if possible kindly help me

hi priyant
i m facing the following proble i have servo motor from MECAPION in manual it is not given whether it is PMSM type or BLDC type
i will sent them a mail they do not tell anything
i have derived the model of DC servo motor is it applicable for AC servo motor
some body tell me it is BLDC or PMSM type first find then derive the Mathematical model my motor is 3 phase AC servo i download the various papers on PMSM and BLDC but both include the PARKS transformation i m not gatting these equation can u help me about this
thank u in advance

Can you please send me the matlab programs that you have used in your pdf documents “Simulation and Implementation of Servo Motor Control with SMC using Maltab” and “Position Control of BLDC Motor using PI Sliding Mode Control”.

Hi khalid, please check this link for ordinary SMC simulation, I will check for the PISMC version. In case I forgot, you might want to consider changing the control algorithm in this simulation with the PISMC, please check the PISMC pdf as reference.

at present i am working on a project ie sliding mode control of DC Motor.can u tell me the steps in implementing the simulation in matlab/simulink.i have done the modeling of dc motor with dc-dc converter as the actuator.i struck up at design of smc.can u help me at this point.

If you have the model then you have the plant. Probably best way to start is learning simulation using Matlab, try the basic controller first such as PID. Then you can move to another one.

i had aleardy done the simulation with pI and fuzzy controller.my palnnt is dc motor which fed by a dc-dc converter(buck).now the problem is how to proceed with SMC design.what are all the steps in implementing SMC for the dc motor plant.looking forward to ur favourable reply.

In SMC you need to have the basic plant model, in my experience I was trying to control an AC servo motor using a DC motor model, however you not need to know the exact value of each entity only an approximation. CMIIW. Then from it you can derive the controller. You can read JJ Slotine for this.

At the last time ,I’m comment about SMC controller…And now I development another controller many technique. However, your can talk with me at zaaba ryo(facebook)

Cd.Dr.Tossaporn
Expertise on control system design

I’m Indonesian. I’m attracted about Sliding Mode Controller to control motor. In my final project (read : Tugas Akhir, not Thesis), I’m using Optimal Sliding Mode Control to control position of DC Motor (SM 150 from Feed Back, Inc). Sliding surface is made from integral sliding surface which combined with LQR method. I really wonder, how can i get the example (Matlab source code/Simulink) about Integral Sliding Mode Control.. I’ve tried to make ordinary sliding mode controller in Simulink to control position. I’ve completed it. Now, I’m confuse how to build integral sliding surface / integral sliding mode control in Simulink.

Would u like to give me the example Matlab/Simulink code about Integral Sliding Mode (or at least the website that contain it)? I really want to learn more about it.. Thanks

Hi Rama, I have no experience with simulink for deriving the SMC. However, as far as I remember you can find tutorial in some websites such as matlab, or open course.
If you have made your own simulink simulation, first make sure that the output is correct by giving several type of input type (step, ramp, so on). I believe you have derived
the sliding surface on your own, then building the sim block by adding integration block on the sliding surface should be easier.

Hi Mr. Bondhan..
Can you please send me the matlab programs that you have used in your pdf documents “Simulation and Implementation of Servo Motor Control with SMC using Maltab” and “Position Control of BLDC Motor using PI Sliding Mode Control”.

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on December 18, 2007 at 1:27 pm |ladokutuHi ladokutu, it will become clear if you read the pdf file.

on January 15, 2008 at 1:28 pm |uyini bondan UI??

numpank baca yak

aku ada tugas kuliah hehehehe

on January 28, 2008 at 8:24 pm |alpiriuqiwaah…. punya wordpress jg ternyata ^_^

on July 18, 2008 at 6:57 am |oaszhey i need to control two servo’s using matlab.. but DC

do u have any ideas?

on October 17, 2008 at 4:25 am |ShahAsalamualaikum Bondan,

Aku ini pelajar dari Malaysia ingin belajar tentang PISMC, boleh kau ajarkan? Tau tak mana2 website yang ajar tentang PISMC ini? Kau tau pasal LQR (linear quadratic regulator)?

on October 17, 2008 at 1:38 pm |ShahTerima kasih ya!

on November 8, 2008 at 1:46 am |josephhi Novandy

nice work here, i quite agree with your contributions to engr. you know changing the world starts bit by bit and not a one time thing so pls keep it up : )

on December 18, 2008 at 1:32 am |ariehi frend

i’m really interest with ur project using lb View

i’m really glad if u let me to learn ur labview program using sliding mode controller

thanks before

best regrads

on December 26, 2008 at 6:51 pm |Haseebassalamualikum,

i want to control Simple 12v dc motor using sliding mode control using matlab.

can u provide me the required infomation .

thanks in advance

on March 27, 2009 at 1:30 am |TossaDear all new contact

Now,I on researh about Electronic drive by wire(using theory sliding mode control for control engine speed via throttle angle control),and this mention is very hot issue in automotive technology at present.

I using dc servo motor for control the angle of throttle vale,and when experiment I using sliding mode theory solve the topic and using matlab to operating.

The problem ,If your using ADC interface is sample time of ADC.But that is vary easy to solve the problem,I using microcontrol interface combine wite matlab.That the solution is very good,and your don’t serious about sampletime limited ,you able to aspect sample time refer to ability of ADC card. After that your using espectially output analog from ADC to tric (input)to Microcontrol.

Finally,another detail have many,If you want to know technique for solve the problem about servo motor(DC) and matlab simmulink,your able to contact to me with this e-mail above czaabaryo@hotmail.com.

on August 8, 2009 at 5:36 pm |priyanthi Novandy

i m working on sliding mode controlmy project is the position control of Ac servo motor bySMC but implementation is in FPGA can u tell me what are the necessary steps i should perform for ex-mathematical modeling,simulation in MATLAB,implementation of control algorithm on FPGA, and one thing how to apply the sliding mode control to Ac servo can u tell me the brief justification so it will be benifical for my final project and if any person who is working on FPGA specially on VERTEX board kindly give me the mail so we will discuss what will be the necessary steps for FPGA coding now i m working on the FPGA but it is a SPARTEN-3 starter board my guide tell me to contol the position by SMC using FPGA(Vertex board)

kindly help me

have nice day

regard

priyant

on August 10, 2009 at 1:19 am |Bondhan NovandyHi priyant, are you going to focus on the FPGA programming or in the controller design? For SMC you can start reading the ppt file, also the LabVIEW file is provided. Btw, tell me about your hardware, drivers, etc..

on September 10, 2009 at 2:43 pmpriyanthi Bondhan good morning

my hardware is AC servo drive Model no-(APD-VS01NL)

AC servo motor:Model no-APM-SB01ADK output 100w,3000rpm,encoder:2500p/t inc(2) from MECAPION

companey and VERTEX-board i dont know the excat no now but i tell u one thing can u give ur email id so that we will discuss the sliding mode controller implementation now i m focussing on FPGA programming but my guide told me to do the parallel work currently so i m decided to work on controller design and mmathematical modelling of AC servo if possible kindly help me

regard

priyant

on October 4, 2009 at 10:43 pmBondhan NovandyHi, please read the pdf file, the derivation of pi-smc for servo motor control is written there.

on September 24, 2009 at 7:20 pm |javadsalaam

I am master student in iran and I would like know any detail about sliding mode control for electrical motor specially induction motor.

but at first I want know about your project (Simulation and Implementation of Servo Motor Control with Sliding Mode Control (SMC) using Matlab) and I would like have matlab source code.

tanks .

fi amane allah

on October 4, 2009 at 10:46 pm |Bondhan NovandyHi, the matlab can be easily written from the derivation as I described in the pdf file.

on October 6, 2009 at 5:14 pm |abhayhi

i was give the hardware detail but u cant reply reply me if possible on my email id-ramteke.abhay@rediffmail.com

regard

abhay

on October 6, 2009 at 5:24 pm |priyanthi Bondhan

my hardware is AC servo drive Model no-(APD-VS01NL)

AC servo motor:Model no-APM-SB01ADK output 100w,3000rpm,encoder:2500p/t inc(2) from MECAPION

companey and VERTEX-board i dont know the excat no now but i tell u one thing can u give ur email id so that we will discuss the sliding mode controller implementation now i m focussing on FPGA programming but my guide told me to do the parallel work currently so i m decided to work on controller design and mathematical modelling of AC servo if possible kindly help me

regard

priyant

on December 1, 2009 at 3:22 pm |priyanthi priyant

i m facing the following proble i have servo motor from MECAPION in manual it is not given whether it is PMSM type or BLDC type

i will sent them a mail they do not tell anything

i have derived the model of DC servo motor is it applicable for AC servo motor

some body tell me it is BLDC or PMSM type first find then derive the Mathematical model my motor is 3 phase AC servo i download the various papers on PMSM and BLDC but both include the PARKS transformation i m not gatting these equation can u help me about this

thank u in advance

regard

priyant

on December 11, 2009 at 11:53 pm |priyantany comment on my post

on January 11, 2010 at 9:33 pm |KhaledSalam

Can you please send me the matlab programs that you have used in your pdf documents “Simulation and Implementation of Servo Motor Control with SMC using Maltab” and “Position Control of BLDC Motor using PI Sliding Mode Control”.

Many thanks & best Regards;

Khaled

on January 15, 2010 at 10:39 am |Bondhan NovandyHi khalid, please check this link for ordinary SMC simulation, I will check for the PISMC version. In case I forgot, you might want to consider changing the control algorithm in this simulation with the PISMC, please check the PISMC pdf as reference.

on January 19, 2010 at 4:39 am |chandro tsbasic SMC please….

on February 9, 2010 at 5:19 pm |Bondhan NovandyHi, here’s a reference you might want to read for basic SMC:

on March 5, 2011 at 8:26 pm |Y.S.Kishore BabuDear Bondhan,

at present i am working on a project ie sliding mode control of DC Motor.can u tell me the steps in implementing the simulation in matlab/simulink.i have done the modeling of dc motor with dc-dc converter as the actuator.i struck up at design of smc.can u help me at this point.

thanks and regards

srinivas

on March 6, 2011 at 7:38 pm |Bondhan NovandyIf you have the model then you have the plant. Probably best way to start is learning simulation using Matlab, try the basic controller first such as PID. Then you can move to another one.

on March 7, 2011 at 2:20 pm |Y.S.Kishore Babui had aleardy done the simulation with pI and fuzzy controller.my palnnt is dc motor which fed by a dc-dc converter(buck).now the problem is how to proceed with SMC design.what are all the steps in implementing SMC for the dc motor plant.looking forward to ur favourable reply.

thanks and regards

Y.S.Kishore Babu

on March 17, 2011 at 3:57 pm |Bondhan NovandyIn SMC you need to have the basic plant model, in my experience I was trying to control an AC servo motor using a DC motor model, however you not need to know the exact value of each entity only an approximation. CMIIW. Then from it you can derive the controller. You can read JJ Slotine for this.

on July 6, 2011 at 10:25 pm |binalhi sir,

how r u

i m working on sliding mode controller for induction motor but i face some problem in my simulation so need your help for my smulation

on July 7, 2011 at 10:27 am |Bondhan NovandyYou might want to share your problem here..

on July 14, 2011 at 12:59 am |zaabaTossa

At the last time ,I’m comment about SMC controller…And now I development another controller many technique. However, your can talk with me at zaaba ryo(facebook)

Cd.Dr.Tossaporn

Expertise on control system design

on September 10, 2011 at 10:40 pm |Ramadhani Kurniawan SubrotoHi Mr. Bondhan..

I’m Indonesian. I’m attracted about Sliding Mode Controller to control motor. In my final project (read : Tugas Akhir, not Thesis), I’m using Optimal Sliding Mode Control to control position of DC Motor (SM 150 from Feed Back, Inc). Sliding surface is made from integral sliding surface which combined with LQR method. I really wonder, how can i get the example (Matlab source code/Simulink) about Integral Sliding Mode Control.. I’ve tried to make ordinary sliding mode controller in Simulink to control position. I’ve completed it. Now, I’m confuse how to build integral sliding surface / integral sliding mode control in Simulink.

Would u like to give me the example Matlab/Simulink code about Integral Sliding Mode (or at least the website that contain it)? I really want to learn more about it.. Thanks

Best Regards,

Rama

Student of Electrical Eng

on September 12, 2011 at 10:57 am |Bondhan NovandyHi Rama, I have no experience with simulink for deriving the SMC. However, as far as I remember you can find tutorial in some websites such as matlab, or open course.

If you have made your own simulink simulation, first make sure that the output is correct by giving several type of input type (step, ramp, so on). I believe you have derived

the sliding surface on your own, then building the sim block by adding integration block on the sliding surface should be easier.

on October 14, 2011 at 2:21 am |dollarhunterediehi ,,pls upload schematic diagram ac servo motor driver 100 to 400 watt

on October 27, 2011 at 5:13 am |Ohnmar WinHi Mr. Bondhan..

Can you please send me the matlab programs that you have used in your pdf documents “Simulation and Implementation of Servo Motor Control with SMC using Maltab” and “Position Control of BLDC Motor using PI Sliding Mode Control”.

Many thanks & best Regards;

omw

on January 5, 2014 at 1:06 am |imranplease upload matlab simulation