Discrete sliding control technique of DC motor drive

Deals with discrete speed regulation of a DC motor using a sliding control technique. Two schemes for control design are given. The main advantages and inconveniences are pointed out. This study takes into consideration the system physical constraints current and voltage limitation, discretisation, time delay for control computation and the different sampling periods. A solution to reduce chattering phenomena is discussed in each case. Finally the experimental results are presented and system robustness with respect to parameters uncertainties and to both speed tracking and regulation are outlined.