Comparative analysis of performance of switching control techniques running on digital devices

Abstract

This  work  shows  the  implementation  of  switching  control  techniques  on  programmable  devices,  in  order  to  improve the performance of a speed DC-motor system under the action of load disturbances. Two main techniques, namely: sliding mode control (SMC) and optimal switching control are analyzed and compared with a classical PID algorithm. Results show that a smooth shaped profile of velocity is generated for the switching techniques and hence an  increased  performance  compared  with  very  noisy  PID  responses.  Also,  computational  effort  is  reduced  when  implementing  the  optimal  control  technique  on  FPGA  and  ARDUINO  microcontroller,  showing  good  results  on  keeping motor speed close to reference values under disturbances in both cases. An in-depth analysis for robustness and optimality is part of the current ongoing work.