Sliding SR

European Journal of Scientific Research
ISSN 1450-216X Vol.50 No.3 (2011), pp.363-380

EuroJournals Publishing, Inc. 2011
http://www.eurojournals.com/ejsr.htm

Performance Comparison of PI and Sliding Mode for Speed
Control Applications of SR Motor

Muhammad Rafiq
Muhammad Ali Jinnah University, Islamabad, Pakistan
E-mail: rafiq_mufti@yahoo.com

Saeed-ur-Rehman
Centre for Advanced Studies in Engineering (CASE), Islamabad, Pakistan

Fazal-ur-Rehman
Muhammad Ali Jinnah University, Islamabad, Pakistan

Qarab Raza Butt
Centre for Advanced Studies in Engineering (CASE), Islamabad, Pakistan

Abstract

In this paper, a performance comparison of Proportional Integral (PI) Controller
with Sliding Mode Controller is presented for speed control of Switched Reluctance Motor
(SR Motor). A robust controller is also suggested for high performance speed regulation
and tracking problem of SR motor. The suggested scheme is based on higher order sliding
mode (HOSM) technique. The proposed controller also guarantees that the motor speed
converges to the desired speed significantly faster than other conventional techniques. The
effectiveness of the proposed controller is confirmed by simulation results. The robustness
of the proposed controller to parametric variations is also validated through simulation
studies.

Keywords: SR motor, sliding mode controller (SMC), higher order sliding mode
controller (HOSMC), speed regulation, tracking control, super twisting
algorithm.

I. Introduction
Switched reluctance motor is a doubly salient machine in which torque is produced by the tendency of
the rotor poles to align themselves with the poles of the excited motor phases. The simple geometrical
construction is one of its attributes because there are no windings on the rotor and hence its
manufacturing cost is low as compared to other motor drives. SR motor has the advantages of
robustness, high efficiency and high torque in low speed (Miller, 2001). However along with these
advantages, SR motor has some drawbacks as it has highly nonlinear magnetic structure and motor
parameters are time varying, so modern control techniques are required to control SR motors. Several
nonlinear control techniques such as back stepping, sliding mode, artificial neural network, fuzzy logic,
feedback linearization, etc. have been developed for the control of SR motors. Alrifai et al., used back
stepping approach and developed speed controller for SR motor. The proposed controller takes inputs
Performance Comparison of PI and Sliding Mode for
Speed Control Applications of SR Motor 364

in the form of rotor position, rotor speed, phase currents and reference speed and finds out the required
phase currents to keep the motor speed near to the reference speed. The simulation results showed that
the proposed controller is better than PI controller in providing faster dynamic response. A self tuning
fuzzy PI controller with artificial neural network was suggested for speed regulation problem of SR
motor (Karakas and Soner, 2007). The simulation results presented in their work showed improved
performance as compared to fuzzy PI controllers. Haiqing et al., 1996 gave the idea of feedback
linearization and proposed controller for speed regulation purpose of SR motor. The proposed
controller was then compared with conventional PI controller and shown to be robust in presence of
uncertainties and unknown disturbances.

Figure 1: A cross-sectional view of 3-Phase SR motor with 6-Stator and 8-Rotor poles.

Sliding mode control has achieved much importance in the last two decades. Due to its
simplicity, high accuracy, fast dynamic response and robustness, it has received researchers attention
and a variety of new algorithms have been developed (Levant, 1993). A comparison of sliding mode
with PI and fuzzy controller was investigated in Inanc and Ozbulur, 2003 for speed regulation problem
of SR motor. The proposed controller was capable of removing low frequency oscillations and shown
to be more effective and robust than PI and fuzzy controllers. The performance comparison of sliding
mode control with PI control for SR motor was also reported in Tahour et al., 2008. The simulation
results reflected that the proposed controller was superior to PI controller. Forrai et al., 1998 proposed
sliding-mode controller for SR motor to control speed but their work did not include magnetic
saturation. It is important to note that SR motor is usually operated in magnetic saturation in order to
increase its output torque. A comprehensive study of sliding mode, PID and fuzzy logic controllers was
reported in Singh et al., 1998 for speed regulation problem of SR motor. The simulation results
indicated that the performance of sliding mode controller was better than PID and fuzzy logic
controllers. The conventional sliding-mode control suffers from the inherent problem of chattering
which leads to high wear and tear of mechanical parts and as a result high heat losses are caused in
electrical power circuits (Perruquetti and Barbot, 2002). This problem can be overcome by using
higher order sliding mode (HOSM) technique (Levant, 1987). HOSM has been used for a number of
engineering applications (Butt and Bhatti, 2008; Butt et al., 2009; Qaiser et al., 2009; Orani et al.,
365 Muhammad Rafiq, Saeed-ur-Rehman, Fazal-ur-Rehman and Qarab Raza Butt

2009). Defoort et al., 2006, 2009; Nollet et al., 2008 worked on stepper motors and designed third
order sliding-mode controllers for position tracking problems. The proposed controllers were based on
geometric homogeneity and integral term was augmented in the controller to cater for uncertainties.
The robustness of the developed controller against parametric variations and load disturbances was
also reported. Laghrouchi et al., 2004 investigated MIMO nonlinear systems and developed HOSM
controller for position control of permanent magnet synchronous motor. Finite time convergence and
good robustness were reported. Huangfu et al., 2008 extended this work for fault detection and
isolation. A double differentiator based on HOSM was reported in Bartolini et al., 2003 for robust
speed and torque estimation of induction motor. The simulation results showed that the proposed
controller was a good estimator and robust against measurement errors. Floquet et al., 2000 also
worked on induction motor and developed second order sliding-mode controller for speed tracking
problems. To estimate rotor flux, first order sliding mode observer was designed and their technique
did not require any torque estimation. Traore et al., 2008 extended this work and proposed HOSMC
based observer. The observer estimated the motor parameters and the estimated values were given to
the controller for speed tracking application. Damiano et al., 2004 applied HOSM on DC motors for
speed control applications. Their scheme did not require the exact knowledge about system parameters
and the simulation results showed the performance to be far better than that achievable from a PI
controller.
This paper compares the performance of PI controller with sliding mode controller (SMC) and
a robust controller based on HOSM control technique is then proposed for better performance. The rest
of the paper is organized as follows: Section II describes the mathematical model of the SR motor;
Section III introduces the Sliding Mode, PI and Higher-Order Sliding-Mode techniques. Controller
design for both regulation and tracking problems are also developed in this Section. Simulation results
are discussed in Section IV and Section V concludes the paper by summarizing the main contributions.

II. Mathematical Model of the System
For any controller design, the important step is to develop the reliable mathematical model that
represents the system dynamics under various operating conditions. The system under consideration is
3-Phase 6/8 SR motor whose parameters are given in Table1. The control oriented mathematical model
of SR motor consists of electrical and mechanical dynamic subsystems (Rafiq et al., 2009), which are
described below.

Figure 2: HOSMC based derived system for speed control of SR motor

HOSMC

-
+
6/8 SR
Motor

Power
Inverter
DC
Supply

re f

A. Electrical Subsystem
Because of the concentrated nature of phase windings, the mutual inductance between various phases
of SR motor is negligibly small. Thus the voltage applied to any one phase of the SR motor can be
accurately described as

( )

,
(t) (t) 1, 2, 3
j j
j j j
d i
u R i j
dt

= + = (1)
Where

, , and
j j j
u R i represent the input, resistance, and current in the j
th
phase.
( )
,
j j
i is
the flux linkage in the j
th
phase which is a the nonlinear function of rotor position and phase current.
For simplicity of notation, the explicit dependence of
j
u and
j
i on time t will be omitted in the
remaining part of the paper. The decoupling between motor phases leads to the following expression
for the time derivative of phase flux linkage:
( ) ( ) ( )

, , ,

j j j j j j
j
j
d i i i
di
d
dt dt i dt

= +

(2)
Substituting (2) in (1) we have:
( ) ( )

, ,

j j j j
j
j j j
j
i i
di
u R i
i dt

= + +

(3)
which can be re-written in the following form
( ) ( )
1

, ,
( ) ( )
j j j j
j
j j j
j
i i
di
u R i
dt i

=

(4)
Where
( )

,
j j
j
i
i

represents the self-inductance of the phase and

( )
,

j j
i
is the back
EMF produced in the j
th
phase.

B. Mechanical Subsystem
Mechanical subsystem can be expressed by the following relation.
( ) ( )
2
2
1
,
e j L
d
T i B T
dt J
= (5)
where is the rotor angle and is the rotor speed. J and B are the moment of inertia and coefficient
of friction, respectively.
( )
,
e j
T i is the total electromagnetic torque which is equal to the sum of
individual torques produced by all motor phases. For simplicity, the explicit dependence of
e
T on
and i is being omitted in the remaining part of the paper.
3
1
( , )
e j
j
T i
=
=
(6)
where
( )
,
j j
T i is the torque of the j
th
phase.
( )
( )
,
,
c j
j j
W i
T i
(7)
where
c
W is co-energy.
( ) ( )
j
i
c j j j j
0
, i , i di W =
(8)
Now (7) takes the form as
( ) ( )
0
, ,
j
i
j j j j j
T i i di

(9)

Now, the complete dynamic model of the SR motor can be expressed in the following state-
space form

d
dt
= (10)
( ) ( )
1
,
e j L
d
T i B T
dt J
= (11)
( )
( ) ( )
( )
1
, ,
( )
( )
j j j j
j
j j j
j
i i
di t
u t R i t
dt i

=

(12)
For speed control application, (11) can be rewritten as
( )
1

e L
d
T B T
dt J
= = (13)
By differentiating above equation we get
1

e L
dT dT d d
B
dt J dt dt dt
| |
=
|
\
(14)
( )
3
1
,
1

j j
L
j
dT i
dT d
B
dt J dt dt
=
| |
| =
|
\
(15)
( ) ( )
3 3
1 1
, ,
1

j j j j j
L
j j
j
T i T i di
dT d
B
dt J i dt dt

= =
| |

| = +
|

\

(16)
Substituting (12) into (16) and leads to the following equation:
( ) ( ) ( ) ( )
1
, , , ,
1
3 3

1 1

T i i i T i
dT
d j j j j j j j j
L
u R i B
j j j j j
dt J i i dt
j j

= +
= =

|
| | | | |
| | |
| | |
\ \
\
(17)
( ) ( ) ( )
1
3

1

, , ,
1

j j j j j j
j j
j
j j
T i i i
R i
J i i

=
|
| | | |

| | =
| |

\ \
\

( ) ( ) ( )
1
3 3

1 1

, , ,
1

j j j j j j
L
j
j j
j j
T i T i i
dT
B u
dt J i i

= =
| |
| | |

|
| | + +
| | |

|
\
\

(18)
This can be written in a compact form as:
( ) ( ) , , , , ,
L
d
i B T i u
dt
= + (19)
Where u is the input vector consisting of 3-phase voltages. The scalar function and vector
function are defined as:
( )
( ) ( ) ( )
1
3

1

, , ,
1
, , , ,
j j j j j j
L j j
j
j j
T i i i
i B T R i
J i i

=
|
| | | |

| | =
| |
\ \
\

( ) 3
1
,
j j
L
j
T i
d T
B
d t
=
|
| +
|
(20)
( )
( ) ( )
1
3
1

, ,
1
,
j j j j
j
j j
T i i
i
J i i

=
| |

| =
|
\
(21)
For simplicity of notation, the explicit dependence of u on time t and & vectors on
, , , ,
L
i B T will be omitted in the remaining part of the paper.

III. Controllers Structures
To optimize the power consumption of SR motor, a commutation scheme has been incorporated while
designing the controllers. This commutation scheme minimizes input power by energizing at the most
two out of three phases of same polarity at any instant. Conversely, at least one, and at the most two
phases of opposite polarity are kept off to avoid the negative contribution which causes power loss at
the own expenses. Thus the motor is driven in a power efficient manner by this commutation scheme.
The details of commutation scheme can be found in previous work of author(s) in [25]. The controller
could be incorporated in motor control as shown in Figure 2.

Figure 3: Graphical representation of SMC minimizing the error to the origin

Sliding mode
Switching surface
S = 0
Reaching
surface
Reaching mode
Desired Final value

Design of Sliding Mode Controller (SMC)
The objective of the sliding mode controller is to design switching surface and control law which is
responsible to force the system trajectories towards the switching surface. On switching surface, the
system is insensitive to certain parameter variations and unknown disturbances (Slotine and Weiping,
1991; Utkin et al., 2002).
The basic idea behind the design of any speed controller is to minimize the speed error. i.e. to
minimize the error to the origin of a plane formed by ( ) e t and ( ) e t & . Graphically it can be seen in
Figure 3.
( ) ( ) ( )
ref
e t t t = (22)
Where ( )
ref
t is the desired speed. In this section, speed controller based on sliding-mode
technique is derived. The first step is to design a sliding surface, which is taken to be as below.
S e e = + & (23)
A candidate Lyapunov function is taken as
2
1
2
V S = that leads to
dV
SS
dt
=
&
where
S e e = +
&
&& &
(24)
( ) ( ( ))
ref ref
S t t = + +
&
& & && (25)
( ) ( ( ( ))
ref ref
dV
S u t t
dt
= + + + & & & (26)
Speed regulation and tracking problem are now considered one by one.


Case-1: Regulation Problem
The purpose of regulation problem is to stabilize the motor speed at a desired constant value. i.e.
( )
ref ref
t = and ( ) ( ) 0, 0.
ref ref
t t = = && & For proving that the proposed control law guarantees the
constant speed requirement, first consider the Proposition 1.
Proposition 1: The following SMC will stabilize the speed to its desired value as t
( ) ( )
1
S
u sign S
= + +
(27)
Proof: Substituting (27) in (26), we get
( ) ( )

S
dV
S sign S
dt
= + (28)
And simplifying we get
( ) 0
S
dV
S sign S
dt
= < (29)
It is evident from (29), 0
dV
dt
= only when 0. S = This ensures that the control law defined in
(27) would guarantee that ( )
ref
t when t

Case-2: Tracking Problem
The objective of tracking problem is to follow the time varying reference signal keeping the tracking
error to a minimum. To prove that the SMC will follow the reference signal, we consider the
Proposition 2
Proposition 2: The following SMC ensures that the motor speed follows a time varying
reference signal when t
( ) ( )
1
{ ( ( )}
S ref ref
u sign S t t
= + + + && & (30)

Proof: By combining (26) and (30), one can obtain:
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
S ref ref ref ref
dV
S sign S t t t t
dt
= + + + + && & && & (31)
Simplifying we get
( ) 0
S
dV
S sign S
dt
= <
(32)
From (32), it is clear that 0
dV
dt
= only when 0. S = This ensures that the control law defined
in (30) will guarantee that the motor speed follows the time-varying reference signal in the limit. In
both the above cases, it is shown that V is positive definite and V
&
is negative definite, therefore the
control law u would guarantee that ( ) ( )
ref
t t as t .

Design of PI Controller
PI controllers are widely used in industries due to their simplicity of design, and low cost. Moreover,
their implementation in analogue or digital hardware is simple and easy. Under limited operating
conditions, they perform well and also their steady state performance is good. The PI controller for the
above system can be expressed as
( ) ( )
p i
u K e t K e t dt = +
(33)
Where
p
K and
i
K are the proportional and integral gain constants. Since the motor is highly
nonlinear and state variables are coupled, so it is not easy to predict the system dynamics with the help
of mathematical solution. Therefore classical pole placement method is not applicable for designing PI
controller. For a certain operating point, the gains
p
K and
i
K are tuned using trial and error method.

The system model of SR motor is highly nonlinear as stated earlier and tuning of PI controller gains for
the entire input/output space would be highly tedious job. Online tuning would require a lot of
computational resources and real time response could still be in question. The numerical values of
p
K
and
i
K for optimum performance are given in Appendix 1.

Table 1: Parameters Of Switched RELUCTANCE MOTOR

Parameter Value
No. of phases 3
No. of stator poles 6
No. of rotor poles 8
Inertia (J)
2
0.1 . N ms
Coefficient of friction(B)
0.1 . N ms
Phase rsistance
4.7
DC voltage supply 250 v

Figure 4: Twisting algorithm phase trajectory

O

Design of Higher Order Sliding Mode (HOSM)
The higher order sliding mode (HOSM) technique generalizes the basic sliding mode idea by acting on
higher order derivatives of sliding variable instead of first order derivative. This technique gives the
same robustness and performance as conventional sliding mode with an extra benefit of chattering
removal (Levant, 1987). The sliding order is a number of continuous total time derivatives of S in the
vicinity of sliding mode. The r
th
order sliding mode (r-sliding) is determined by the equations
( 1)
0
r
S S S S

= = == =
& &&

The main problem of HOSM is the increment of the demanded information. For example any r-
sliding controller needs the information about
( 1)
, ,
r
S S S S

&& &
in order to keep 0. S = Super twisting
algorithm is one of the popular algorithms among the second order sliding mode algorithms that does
not require this extra piece of information. This algorithm has been developed and analysed for
systems which has relative degree one in order to avoid chattering. The trajectories of the algorithm
twist around the origin in the phase portrait of sliding variable as shown in Figure 4. The super twisting
algorithm has the advantage over other algorithms in that it does not require the time derivative of
sliding variable. The control law used in this algorithm is composed of two components. The first
component
1
v

is defined in term of discontinuous time derivative while the other component
2
v

is a
continuous function of sliding variable (Fridman and Levant, 2002; Khan et al., 2003).

1 2
u v v = + (34)
( )
1
1
1
S
u when u
v
sign S when u
>
& (35)
( )
( )
0 0
2
0

s
s
S sign S when S S
v
S sign S when S S
>
(36)
The super twisting algorithm converges in finite time and the corresponding sufficient
conditions are:
2
2
4 ( )
, , 0 0.5
( )
M S
S s
m m m S

+
> <
+
(37)
Where
0
, , , ,
S m
S are some positive constants. When the system is linearly dependent
on , u then control law can be expressed as:
( )
0 1

s
u S sign S v
= + (38)
( )
1

S
v sign S = & (39)
The super twisting algorithm converges exponentially to the origin when 1
s
= . The designed
control law using super twisting algorithm for speed regulation and speed tracking problem finally
takes the form as given below
Speed Regulation
The control signal u computed for speed regulation can be written as:
( )
( )
0.5
1
1

S
u S sign S v
= + + + (40)
( )
1

S
v sign S = & (41)
Speed Tracking
The control signal u for tracking a reference speed is:
( ) ( )
( )
0.5 1
( ( ))
S ref ref
u S sign S t t
= + + + & && (42)

( )
1

S
v sign S = & (43)

Figure 5: Speed responses of PI, SMC & HOSMC for a step command.

0 0.1 0.2 0. 3 0. 4 0. 5 0. 6 0. 7 0.8 0.9 1
0
1
2
3
4
5
6
7
8
9
10
PI
SMC
HOSMC


Figure 6: A close up view of responses of PI, SMC & HOSMC for a step command. The high magnitudes of
chattering of SMC and speed ripples of PI are clearly noticeable.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.97
9.98
9.99
10
10.01
10.02
10.03
10.04
10.05
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
PI
SMC
HOSMC

Figure 7: Error plots of speed response of PI, SMC & HOSMC for a step command.

0 0.1 0.2 0. 3 0. 4 0. 5 0. 6 0. 7 0.8 0.9 1
0
2
4
6
8
10
PI
SMC
HO SMC

Figure 8: A close up view of error plots of speed response of PI, SMC & HOSMC to a step command. The
reduced amount of error magnitude is clearly visible.

0 0.1 0.2 0. 3 0. 4 0. 5 0. 6 0. 7 0.8 0.9 1
-0. 05
-0. 04
-0. 03
-0. 02
-0. 01
0
0. 01
0. 02
0. 03
0. 04
0. 05
PI
SMC
HO SMC


The following section gives the results of simulation testing of control algorithms designed
above.

IV. Simulation Results
The mathematical model presented in the previous section is simulated using MATLAB/SIMULINK
software. The dynamic equations are programmed in S-function; which is a dynamic equation
programming routine. A template of this routine is available along with MATLAB. The GUI for this
simulation is created using SIMULINK blocks. The physical and functional parameters of SR motor
used for simulation testing are given in Table1.
Figures 5-8 show the speed responses of PI, SMC and proposed design (HOSMC) when SR
motor is operating at a reference speed of 10 rad/s. It can be observed that the motor speed converges
to the desired speed within 0.07 seconds. PI controller exhibits large speed ripples in steady state.
Chattering is observed in SMC which is revealed by Figure 6. The proposed controller shows an initial
overshoot which is reasonable and then tracks the reference speed closely. Figure 7 illustrates the
respective error plots and Figure 8 gives its close up view. It is important to note that as far as
chattering and large speed ripples are concerned, the proposed controller has outperformed the other
two controllers. Figure 9 gives the speed responses when SR motor is commanded to follow the
reference with sudden change in torque load. Initially the external torque load is zero and then
suddenly a torque load of 4 N-m is applied at t = 0.4 sec. which results in a slightly larger ripples in
motor speed. Finally the external torque load is withdrawn at t = 0.5 sec. and speed ripples decrease
slightly. It is clear from Figure 10 that the maximum speed ripple using PI control is 7%. Using SMC,
it is 6% and using proposed HOSMC design it is just 2.5% that makes a better choice. It clearly
outperforms the other two. The same performance of the proposed controller can be observed from
Figures 11-12 when SR motor is commanded to operate at 10 rad/s from its standstill position with
torque load of 4 N-m. It can be seen that the proposed controller produces exceptional performance
where as the dynamic responses of SMC and PI controller are not up to the mark. Chattering and 4%
steady state error can be observed in SMC; and PI controller exhibits a slight drop in speed response in
transient state.
Figure 13-15 show a comparison of tracking performance of proposed controller with PI and
SMC while following a Sinusoidal trajectory. Figure 14 gives a clear picture of the controller output at
different points of one sinusoidal cycle. It is visible that SMC is showing higher magnitude of
chattering, while proposed controller is producing smaller spikes whenever sinusoid crosses the datum
(zero) line. It is a well documented fact that high frequency or high magnitude of chattering of a sliding
control is dangerous when an implementation is done and an actuator has to obey a sliding/switching
control command. Therefore, it is established that the proposed controller (HOSMC) is producing
better overall results for SR motor control.

Figure 9: Speed response of controllers against sudden change in torque load.

0 0.1 0.2 0. 3 0. 4 0. 5 0. 6 0. 7 0.8 0.9 1
9
9. 1
9. 2
9. 3
9. 4
9. 5
9. 6
9. 7
9. 8
9. 9
10
PI
SMC
HOSMC


Figure 10: A close up view of speed response of controllers against sudden change in torque load.
0 0.1 0.2 0. 3 0. 4 0. 5 0. 6 0. 7 0.8 0.9 1
0
1
2
3
4
5
6
7
8
9
10
P I
S MC
H OSM C

Figure 11: Speed response with torque load.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
1
2
3
4
5
6
7
8
9
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
PI
SMC
HOSMC

Figure 12: A close up view of speed response of controllers with torque load.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
PI
SMC
HOSMC

Figure 13: Speed response of controllers against the reference signal defined by ( ) 10 (2 =
ref
t sin t )

0 0.5 1 1. 5 2 2. 5 3 3. 5 4 4.5 5
-10
-8
-6
-4
-2
0
2
4
6
8
10
PI
SMC
HO SMC
Ref. Sig n al


Figure 14: A close up view of Speed response against a reference signal ( ) 10 (2 =
ref
t sin t ).

3 3.1 3.2 3. 3 3. 4 3. 5 3. 6 3. 7 3.8 3.9 4
-10
-8
-6
-4
-2
0
2
4
6
8
10
PI
SMC
HO SMC
Ref. Sig n al

Figure 15: Error between speed response of PI, SMC and HOSMC ( ) 10 (2 =
ref
t sin t )

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-1
0
1
2
3
Time ( sec )
S
p
e
e
d

E
r
r
o
r

(

r
a
d
/
s

)
PI
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-1
0
1
2
3
Time ( sec )
S
p
e
e
d

E
r
r
o
r
(

r
a
d
/
s

)
SMC
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-1
0
1
2
3
Time ( sec )
S
p
e
e
d

E
r
r
o
r
(

r
a
d
/
s

)
HOSMC

A. Robustness of the Proposed Design
For high performance applications the proposed scheme should be robust to parameter variations.
Changes in moment of inertia J, stator phase resistance R and coefficient of friction B are investigated
through simulations. The simulation studies are undertaken by changing one parameter at a time while
keeping other parameters unchanged. The motor is commanded to accelerate from rest to reference
speed of 10 rad/sec under no torque load. Figures 16-17 show the motor responses of PI, SMC and
HOSMC when moment of inertia is decreased by 50% and then increased by 100% of its original
value. It can be seen that PI control exhibits poor dynamic response. Overshoot and speed ripples are
quite significant. The speed response of SMC is however excellent but it suffers from the chattering
effect; which is an undesirable phenomena. An increase or decrease of moment of inertia J does not
have any effect on the performance of the proposed Higher Order Sliding Mode technique. The
decrease of moment of inertia gives good performance but it slows down the dynamic response.
Figures 18-19 show the response when there are changes in phase resistance. It can be noted
that the decrease in phase resistance causes large overshoot in SMC and HOSMC than PI control
which is affected by speed ripples. The increase in phase resistance slows down the dynamic
responses. The response of SMC is slower than PI and Proposed Controller.
Figures 20-21 show the speed response when coefficient of friction is decreased by 50%, and
then increased by 100% of its original value. It can be seen that the increment or decrement of
coefficient of friction does not impose any effect on the performance of the proposed technique but
only affects the dynamic response. The decrease/increase of coefficient of friction in PI control results
in high overshoot and large speed ripples. The performance of SMC is affected at transient stage and
causes more chattering. It is very much clear from Figures 16-21 that the proposed controller
(HOSMC) is insensitive to parametric variations and a robust tracking performance is achieved in
presence of the uncertain parameters.

Figure 16: Speed response with variations in moment of inertia J.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(
r
a
d

/

s
e
c
)
PI
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c
)
SMC
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c
)
HOSMC
J
J / 2
J * 2
J
J / 2
J * 2
J
J /2
J * 2

Figure 17: A close up view of speed response of controllers with changes in J.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.8
9.9
10
Time (sec )
S
p
e
e
d

(
r
a
d

/

s
e
c
)
PI
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.8
9.9
10
Time (sec)
S
p
e
e
d

(

r
a
d

/

s
e
c
)
SMC
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.8
9.9
10
Time (sec )
S
p
e
e
d

(

r
a
d

/

s
e
c
)
HOSMC
J
J / 2
J * 2
J
J / 2
J * 2
J
J / 2
J * 2

Figure 18: Speed response of controllers with variations in R.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
PI
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
SMC
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
HOSMC
R
R / 2
R * 2
R
R / 2
R * 2
R
R / 2
R * 2


Figure 19: A close up view of speed response of controllers with changes in R.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.9
10
10.1
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
PI
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.9
10
10.1
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
SMC
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.9
10
10.1
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
HOSMC
R
R / 2
R * 2
R
R / 2
R * 2
R
R / 2
R * 2

Figure 20: Speed response of controllers with changes in B.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
PI
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
5
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
SMC
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
2
4
6
8
10
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
HOSMC
B
B/ 2
B* 2
B
B/ 2
B* 2
B
B/ 2
B* 2

Figure 21: A close up view of speed response of controllers with changes in B.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.8
9.9
10
10.1
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
PI
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.8
9.9
10
10.1
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
SMC
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
9.8
9.9
10
10.1
Time ( sec )
S
p
e
e
d

(

r
a
d

/

s
e
c

)
HOSMC
B
B/ 2
B* 2
B
B/ 2
B* 2
B
B/ 2
B* 2


Conclusion
Regulation and tracking control problems of SR motor has been addressed. PI controller exhibits large
speed ripple and inherent chattering in SMC may be harmful to SR motor, therefore HOSMC is
introduced to handle these problems. The performance of the controllers is validated through
simulations. The proposed controller also guarantees that the motor speed converges to the desired
speed considerably faster than other conventional techniques. The simulation results show that the
performance of proposed controller is better than conventional SMC and PI controller. A number of
simulation results are presented for comparison. The results prove the robustness of the proposed
controller against parameter variations and load disturbances.

Acknowledgment
The authors are grateful to Higher Education Commission (HEC) of Pakistan for financial support.

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Appendix-1
PI controller gains: 10 0.05
p i
K K = =
SMC Parameters: 9680 1.0
S
= =
HOSMC Parameters: 5200 1.0
S
= =

Sliding SR

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Sliding SR

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European Journal of Scientific Research

ISSN 1450-216X Vol.50 No.3 (2011), pp.363-380

represents the self-inductance of the phase and

= + + + && & (30)

= + + + & && (42)

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