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Backstepping Sliding Mode Controller Design for Series DC Motor Control under Parameter Uncertainty and Disturbance.

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Title: Backstepping Sliding Mode Controller Design for Series DC Motor Control under Parameter Uncertainty and Disturbance.
Authors: SHREITEH, Hamed Khaled1 hamed.shreteih@gmail.com, AYGÜN, Hilmi2 hilmiaygun@karabuk.edu.tr
Source: Technical Gazette / Tehnički Vjesnik. 2026, Vol. 33 Issue 4, p1538-1548. 11p.
Subjects: Backstepping control method, Sliding mode control, MatLab (Computer software), Electric motors, Robust control, Lyapunov stability
Abstract: Series DC motors are commonly used in applications such as elevators, cranes, and electric trains due to their high starting torque. However, their nonlinear characteristics make conventional PID controllers inadequate, particularly in handling parameter uncertainties and external disturbances. Furthermore, improper tuning of PID parameters can lead to system instability. To address these challenges and improve both transient and dynamic performance, this paper proposes a backstepping sliding mode controller. The proposed method combines the advantages of backstepping and sliding mode control, ensuring robust performance and system stability through Lyapunov-based analysis. The controller's effectiveness is evaluated through MATLAB simulations under scenarios involving sudden speed changes, load disturbances, and ±50% parameter uncertainty. Comparative results demonstrate that the proposed controller outperforms conventional backstepping and sliding mode controllers, offering superior robustness and dynamic response. [ABSTRACT FROM AUTHOR]
Copyright of Technical Gazette / Tehnički Vjesnik is the property of Tehnicki Vjesnik and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
An: 197020233
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PubType: Academic Journal
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  Data: Backstepping Sliding Mode Controller Design for Series DC Motor Control under Parameter Uncertainty and Disturbance.
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  Data: <searchLink fieldCode="JN" term="%22Technical+Gazette+%2F+Tehnički+Vjesnik%22">Technical Gazette / Tehnički Vjesnik</searchLink>. 2026, Vol. 33 Issue 4, p1538-1548. 11p.
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  Data: <searchLink fieldCode="DE" term="%22Backstepping+control+method%22">Backstepping control method</searchLink><br /><searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22MatLab+%28Computer+software%29%22">MatLab (Computer software)</searchLink><br /><searchLink fieldCode="DE" term="%22Electric+motors%22">Electric motors</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: Series DC motors are commonly used in applications such as elevators, cranes, and electric trains due to their high starting torque. However, their nonlinear characteristics make conventional PID controllers inadequate, particularly in handling parameter uncertainties and external disturbances. Furthermore, improper tuning of PID parameters can lead to system instability. To address these challenges and improve both transient and dynamic performance, this paper proposes a backstepping sliding mode controller. The proposed method combines the advantages of backstepping and sliding mode control, ensuring robust performance and system stability through Lyapunov-based analysis. The controller's effectiveness is evaluated through MATLAB simulations under scenarios involving sudden speed changes, load disturbances, and ±50% parameter uncertainty. Comparative results demonstrate that the proposed controller outperforms conventional backstepping and sliding mode controllers, offering superior robustness and dynamic response. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Technical Gazette / Tehnički Vjesnik is the property of Tehnicki Vjesnik and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.17559/TV-20250710002814
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      – Code: eng
        Text: English
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        PageCount: 11
        StartPage: 1538
    Subjects:
      – SubjectFull: Backstepping control method
        Type: general
      – SubjectFull: Sliding mode control
        Type: general
      – SubjectFull: MatLab (Computer software)
        Type: general
      – SubjectFull: Electric motors
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Lyapunov stability
        Type: general
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      – TitleFull: Backstepping Sliding Mode Controller Design for Series DC Motor Control under Parameter Uncertainty and Disturbance.
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            NameFull: SHREITEH, Hamed Khaled
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            – D: 01
              M: 07
              Text: 2026
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              Y: 2026
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