Modeling and analysis of mechanical systems with PID and Sliding Mode Control

Basic mechanical systems are usually considered to comprise of spring, damper and mass. This type of systems and components are used to modeling and analysis of many different mechanical systems, like car suspension and human body. Mechanical systems are analyzed according to Newton´s second law. Sliding mode control is a type of nonlinear control that can be applied on variable structure systems. Sliding mode control can be used in different electromechanic systems due to its effectiveness against system uncertainities and disruptive effects. Sliding mode control has two basic stages which are accession and sliding stages. PID controller is a classic control type that is used prevalent in control applications. It is preferred due to its eaisness of design and application. In this paper, modeling of mechanical systems, controlling with PID Controller and Sliding Mode Controller is discussed. Simulation results were obtained and compared with regard to different controller types and parameter values on MATLAB/Simulink software.