Performance Analysis of Disturbance Estimation Techniques for Robust Position Control of DC Motor

In this paper, the problem of high-performance robust position control of a DC motor based on the uncertainty and disturbance estimator (UDE) is presented. The UDE based sliding mode controller (SMC) is proposed which makes the system insensitive to the effect of Coulomb's friction, parameter variations, and variable external load in DC motor. Fair comparison between UDE based SMC and existing classical technique is carried out by making PID as a robust controller by using Q-filter design. The different filter designs provide different estimates of nonlinearity, uncertainties, and external disturbances at a different resolution of position encoders. The proposed method guarantees robustness and ultimately eliminates the chattering phenomenon which is generally occurred in SMC.