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Simulation and Arduino Hardware Implementation of DC Motor Control Using Sliding Mode Controller

Journal of Robotics and Control (JRC) · Vol. 2 No. 6 (2021) · hlm. 582–587

DOI
10.18196/jrc.26140
ISSN
2715-5072, 2715-5056
Terbit
2021-11-08
Penerbit
Universitas Muhammadiyah Yogyakarta
Bahasa
eng

Abstrak

The research proposed an alternative controller to control the Direct Current (DC) Motor using a sliding mode controller (SMC) in Matlab Simulink simulation and Arduino hardware implementation. The proposed controller, SMC, was designed using the system model (equivalent control) and Lyapunov control design (also to prove the stability). The sliding mode controller had a better response than PID Controller, with no overshoot response in the simulation result. In the Arduino hardware implementation result, the augmented system could reach the reference but has an oscillation and chattering effect in the control signal. The chattering could be reduced by modifying the switching control. Comparing with PID, SMC had a better response with no overshoot. Thus, the SMC could be used as an alternative controller for the DC Motor.

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  • Sebelas Maret University
  • Universitas Ahmad Dahlan
  • Universiti Teknikal Malaysia Melaka
  • Islamic Azad University, Tehran
  • University of Hassan II Casablanca
  • Ecole Mohammadia d'Ingénieurs
  • Konya Technical University
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Rekan penulisOrganisasiArtikel bersama
Iswanto SuwarnoMuhammadiyah University of Yogyakarta4
Magdi S. MahmoudKing Fahd University of Petroleum and Minerals4
Hari MaghfirohSebelas Maret University3
Mahmoud A. MossaMinia University3
Davut İzciBursa Uludağ Üni̇versi̇tesi̇3
Serdar EkinciGedik University3
Marco Antonio Márquez-VeraUniversidad Politécnica de Pachuca3
N. S. AbuUniversiti Teknikal Malaysia Melaka2
Wan Mohd BukhariUniversiti Teknikal Malaysia Melaka2
M. H. AdliAdvanced Semiconductor Engineering (Taiwan)2
Furizal FurizalUniversitas Ahmad Dahlan2
Mostafa JabariSahand University of Technology2
Samir LadaciEcole Nationale Polytechnique de Constantine2
Jonattan Niño ParadaUniversidad de los Llanos2
Muhammad NizamSebelas Maret University1
Joko Slamet SaputroSebelas Maret University1
Berlian Shanaza AndianySebelas Maret University1
Chico HermanuSebelas Maret University1
Miftahul AnwarSebelas Maret University1
Sunardi SunardiUniversitas Ahmad Dahlan1
Rio Ikhsan AlfianUniversitas Ahmad Dahlan1
Naufal Rahmat SetiawanAfiliasi tidak diketahui1
Ahmed Jaber AbougarairUniversity of Tripoli1
Edwin Albert UmohAfiliasi tidak diketahui1
Safinta Nurindra RahmadhiaUniversitas Ahmad Dahlan1
Reza AlayiIslamic Azad University, Tehran1
Yaser EbazadehIslamic Azad University, Tehran1
Ferydon GharadaghiAfiliasi tidak diketahui1
Farnaz JahanbinIslamic Azad University, Mashhad1
Nima ShafaghatianUniversity of Zanjan1
Hamdi EcheikhEcole Nationale d'Ingénieurs de Monastir1
Mohamed MoutchouUniversity of Hassan II Casablanca1
Souad TayaneUniversity of Hassan II Casablanca1
Yassine ZahraouiHassania School of Public Works1
Chaymae FahassaEcole Mohammadia d'Ingénieurs1
Sara ElbadaouiEcole Mohammadia d'Ingénieurs1
Houari KhouidmiHassiba Benbouali University of Chlef1
Mahmoud ZadehbagheriIslamic Azad University Yasuj1

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Sumber metadata: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, pertama di-harvest 9 Nov 2026, terakhir terlihat 9 Nov 2026.
Metadata asli (oai_dc) 
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	<dc:title xml:lang="en-US">Simulation and Arduino Hardware Implementation of DC Motor Control Using Sliding Mode Controller</dc:title>
	<dc:creator>Ma'arif, Alfian</dc:creator>
	<dc:creator>Çakan, Abdullah</dc:creator>
	<dc:subject xml:lang="en-US">DC Motor</dc:subject>
	<dc:subject xml:lang="en-US">Sliding Mode Controller</dc:subject>
	<dc:subject xml:lang="en-US">Arduino</dc:subject>
	<dc:subject xml:lang="en-US">PID Control</dc:subject>
	<dc:subject xml:lang="en-US">Matlab</dc:subject>
	<dc:description xml:lang="en-US">The research proposed an alternative controller to control the Direct Current (DC) Motor using a sliding mode controller (SMC) in Matlab Simulink simulation and Arduino hardware implementation. The proposed controller, SMC, was designed using the system model (equivalent control) and Lyapunov control design (also to prove the stability). The sliding mode controller had a better response than PID Controller, with no overshoot response in the simulation result. In the Arduino hardware implementation result, the augmented system could reach the reference but has an oscillation and chattering effect in the control signal. The chattering could be reduced by modifying the switching control. Comparing with PID, SMC had a better response with no overshoot. Thus, the SMC could be used as an alternative controller for the DC Motor.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Muhammadiyah Yogyakarta</dc:publisher>
	<dc:date>2021-11-08</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.umy.ac.id/index.php/jrc/article/view/11305</dc:identifier>
	<dc:identifier>10.18196/jrc.26140</dc:identifier>
	<dc:source xml:lang="en-US">Journal of Robotics and Control (JRC); Vol. 2 No. 6 (2021): November; 582-587</dc:source>
	<dc:source>2715-5072</dc:source>
	<dc:source>2715-5056</dc:source>
	<dc:source>10.18196/jrc.v2i6</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.umy.ac.id/index.php/jrc/article/view/11305/6198</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2021 Alfian Ma'arif</dc:rights>
</oai_dc:dc>