Speed control of a DC motor using a fractional order sliding mode controller

In this paper, a fractional-order sliding mode controller for a DC laboratory velocity servo system is established. First, the permanent magnet DC motor is identified through step response data. Then, a fractional-order sliding mode controller based on a fractional-order sliding surface is constructed. The experimental results demonstrate the performance of the proposed non-integer sliding mode controller in both command following and load disturbance rejection.