Robust Adaptive Sliding Mode Control Design with Genetic Algorithm for Brushless DC Motor

Een Hutama Putra, Zulfatman Has, Machmud Effendy


This study aims to design a control scheme that is capable to improve performance and efficiency of brushless DC motor (BLDC) in operating condition. The control scheme is composed of sliding mode controller (SMC) with proportional-integral-derivative (PID) sliding surface. The PID sliding surface is used to improve the system transient response. Then, the SMC-PID is optimized by genetic algorithm optimization for further improvement on the stability and robustness against nonlinearities and disturbances. Chattering problem that appear in the SMC is minimized by employing an adaptive switching gain for the SMC that is integrated with Luenberger Observer. Lyapunov function candidate is applied to guarantee the stability of the system. Simulation on the proposed work is done in Matlab Simulink. Results of the simulation works indicate that the proposed control scheme can improve the transient response, the stability and robustness of the BLDC motor compared to the conventional SMC in the existence of nonlinearities and disturbances.


BLDC motor; sliding mode control; PID sliding surface; genetic algorithm; adaptive switching gain;

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