A Robust Sliding Mode and PI-Based Tracking Control for the MIMO “DC/DC Buck Converter–Inverter–DC Motor” System

This work addresses the control problem related to the bidirectional velocity of a DC motor fed by a DC/DC Buck converter–inverter as power amplifier. While various power electronic topologies have been proposed in the literature, this research focuses on one that was previously disregarded due to its delivery of pulse width modulated voltage signals instead of smooth voltage signals to the DC motor. However, in this paper it is demonstrated that by appropriately controlling the power electronic converter it is indeed possible to deliver the desired smooth voltage signals to the motor. Moreover, the proposed control strategy is robust, employing multiple proportional-integral loops, and a sliding mode controller. A formal proof of asymptotic stability is provided and the robustness is verified through experimental validation.