Sliding Mode Control of Electric Drives/Review
R. Dhanasekar, S. Ganesh Kumar and M. Rivera
Abstract This paper deals with the basic concepts of sliding
mode control of electric drives. Further, the features of sliding
mode control are discussed. The discussions mainly on types of
sliding mode control, order reduction, decoupling principles,
disturbance rejection, insensitivity to parameter variations, and
implementation in power converters, electric drives. In
continuation of that recent trends in sliding mode control is also
discussed.
Index Terms AC drives, DC drives, Power converters,
Sliding Mode Control and Special Elecrical Machines.
I. INTRODUCTION
T HE INTRODUCTION of control system in engineering
makes development in various applications. The control
engineers often deal with complex systems in industrial
applications. There is a lot of mismatches between the actual
plant and the mathematical model developed for the controller
design in industrial applications. This mismatch are due to
un-modelled dynamics and the variation in system parameters.
The engineer must ensure that the controller has the ability to
give good performance and less sensitive to parameter
variations [1]. The sliding mode control in variable structure
systems is an efficient tool to design robust controllers for
complex non-linear multi variable plants. Variable structure
systems consist of a set of continuous linear or non-linear
elements (subsystems) with suitable switching logic. The
control changes the structure of subsystems at any instant from
one to another member by proper switching state [2]. Due to
these advantages, sliding mode control technique is used in the
power electronics and drives.
R.Dhanasekar is with the Electrical & Electronics Engineering
Department, Sri Sairam Institute of Technology, West tambaram, Chennai,
Tamilnadu, India (e-mail: dhanasekar.eee@sairamit.edu.in).
S.Ganesh Kumar is with the Electrical & Electronics Engineering
Department, CEG campus, Anna University, Chennai, Tamilnadu, India
(e-mail: ganeshkumar@annauniv.edu).
The author M. Rivera is with the Department of Electrical Engineering,
Faculty of Engineering, Universidad de Talca, CHILE, The author can be
connected through marcoriv@utalca.cl
ACKNOWLEDGEMENT
Authors thank Department of Electrical and Electronics Engineering and
Centre for International Affairs, Anna University, India for the financial
support. Also, the authors acknowledge the financial support of Fondecyt
Regular 1160690.
9781509011476/16/$31.002016IEEE
This paper consists of five sections including introduction.
Section II discussed SMC for DC and AC drives, Section III
discussed SMC for special machines, Section IV discussed
SMC for power converters and Section V discussed Recent
trends in SMC.
II.SMC FOR DC AND AC DRIVES
A. SMC FOR DC DRIVES
The conventional non linear system is applied to DC motor
drives with the configuration of PI controllers and torque
controllers. But due to the load variations, the performance of
DC drive becomes degraded. Variable structure systems
(VSS) are becoming popular in controlling the DC motor. The
speed control of permanent magnet DC Motor is achieved by
Higher Order Sliding Mode (HOSM) Control [2]. Third order
sliding mode controller is designed based on linear model of
motor with driver circuit. The combination of proportional,
integral and derivative speed error is used to design the sliding
surface [3]. In [4], two sliding mode algorithms is applied and
tested on DC drive system. The twisting algorithm which
requires the first time derivative of the sliding variable. In
addition to that, the super twisting algorithm is used which
unlike other HOSM algorithms requires measurements of the
sliding variable.
An real time adaptive PID controller via sliding mode
approach is proposed in [5] which is the combination of PID
controller and fuzzy compensator. The PID controller tune the
control gains automatically based on the gradient descent
method. The fuzzy compensator is designed to eliminate the
effect of the approximation error introduced by the PID
controller.The proposed adaptive PID controller with sliding
mode approach is implemented on field-programmable gate
array (FPGA) chip with Dc motor drive. A new non-linear
sliding surface method is proposed in [6] for robust position
control of DC motor. To improve the performance of higher
order system a non-linear algorithm is used to tune the control
law. This control increases the damping ratio of the third order
system. In [7], smooth starter is implemented for a buck
converter fed DC motor. A cascade control is designed so that
the sliding mode control is considered for the inner current
loop and proportional-integral control for the outer voltage
loop. Using MATLAB-Simulink and DS1104 board the
experiments are done. A comparison between frequency
domain and time domain controller is approached in [8]. Four
control techniques are designed, two in the frequency domain
PID (Proportional Integral Derivative) and CRONE
(Commande Robuste dOrdre Non Entier) and two in the time
domain (State-feedback and SMC). These techniques are
approached in DC motor for position control. The
performance of the techniques is presented and compared. [8]
In [9] PID controller, SMC , dynamic SMC and Adaptive
PID with dynamic SMC controllers are designed for the speed
control of DC motor. The performance of all four controllers
is compared from the obtained results. The performance of
PID controller is poor in the presence of external disturbances
compared with SMC. The chattering problem is minimized
using dynamic SMC. An adaptive PID with dynamic sliding
mode controller improves the performance of SMC [9]. A
robust controller is designed for DC motor with low-resolution
position encoder. To estimate the rotor speed, an Extended
high-gain observer (EHGO) is designed to solve the
quantization noise problem. Integral sliding mode controller is
introduced to reduce the chattering problem with sigmoid
boundary layer [10].
In [11], the speed of the separately excited DC motor is
controlled efficiently by SMC. To control the speed of the DC
motor in linear and non linear model, PID controller is
applied. Then for the same non linear model SMC is applied.
From the results obtained SMC shows good performance
compared with PID controller. An output feedback sliding
mode position controller is introduced in coreless DC motors.
[12]. At certain frequencies undesirable resonant effects
occurs in the closed loop control. To damp the resonant effects
sliding mode controller combines with a high gain observer is
designed [12]. In [13], a sliding mode control (SMC) is used
for speed control of DC drive. The speed control of DC motor
for the measured speed with reduced order model produces
high frequency switching or chattering. Chattering problem is
reduced by the reduced order asymptotic observer.
B. SMC FOR AC DRIVES
Nowadays ac motors, both synchronous and asynchronous
motor plays a major role in variable speed drives. Induction
motors are extensively used in various applications in
industries and also in home appliances. The main advantage of
squirrel cage induction motor is its simple mechanical
construction because there are no brushes, no commutator, no
permanent magnet and available in the ranges of horse power
to multi megawatt capacity.
With the development of power electronics and digital
systems the induction motors are preferred in industries
compared with DC drives. However, the speed control of DC
motors can be achieved easily because the torque and flux is
decoupled [14].
In [15], a new adaptive fuzzy sliding-mode controller
(AFSMC) is implemented for the speed control of induction
motor. For controlling the speed of induction motor, indirect
field oriented is applied based on the boundary layer
approach. A fuzzy system is approached as the control part
for chattering elimination. The fuzzy controller improves the
stability of the system [15].
Sensorless control of induction motors are popular
nowadays because it reduces the system cost and increase the
robustness. In [16], a combination of direct torque and flux
control based on variable structure control (sliding mode
control) with space vector pulse width modulation is proposed
for sensorless induction motor drives. The torque and flux
pulsations are reduced by direct torque control so that the
steady state performance of the system is improved. A sliding
mode flux observer is realized that does not require the speed.
A dual reference frame motor model is introduced and tested
in sliding mode observer [16].
The current decoupling problems and tuning of controller
with sensorless vector-controlled induction-motor (IM) drives
was discussed [17]. In field-oriented control, the torque
production of the Induction motor resembles like separately
excited dc motor by independent control of dq synchronous-
frame currents. However, the d-q currents are not naturally
decoupled and decoupling compensators should be used. An
additional problem is current loop tuning. The controller gains
are obtained by theoretical methods or simulation is not
properly works on the real system. A new approach for current
control was proposed in this paper such that the synchronous-
frame control voltages are synthesized by the sum of a
traditional PI controller output (ideal plant model) and an
Integral Sliding Mode (ISM) controller. The dq currents are
decoupled by ISM controller and current loop parameters are
compensated in the machine. The speed estimation is not
required in this proposed drive system [17].
In [18], sensorless sliding mode observer for the flux
magnitude of the induction motor is designed and
implemented. A modified model of the motor in the rotating
reference frame is used to design the sliding mode observer
for the flux magnitude of the induction machine. The voltages
and currents in the dq frame and the estimated speed acts as
inputs to the Sliding mode observer. Due to the estimation of
speed with the absence of speed sensor, the system becomes
sensorless. The gain selection is done so that the proposed
observer is insensitive to the input speed inaccuracy. The
estimated flux magnitude is still accurate when input speed is
tuned as 50% of the real speed.
A Lyapunov function is obtained [19], for second order
sliding modes (SOSM) based on the supertwisting algorithm.
This algorithm is used to design controllers, observers and
differentiators. The Lyapunov function not only used to know
the properties of finite time convergence but also it improves
the performance by adding linear correction terms to the
algorithm. The Lyapunov function introduces new analysis
and design tools to the Higher Order Sliding Modes research
area. Depends upon the error output the sliding modes are
obtained by adding a non-linear discontinuous term into the
controlling or observing system. The discontinuous term must
be designed such that the trajectories of the system are forced
to remain on some sliding surface in the error space.
Compared with first order sliding mode algorithms, SOSM
trajectories are smoother and chattering free. A modified
supertwisting algorithm is proposed so that it combines the
benefits of the SOSM and linear algorithm.
In [20], a new decoupled current control and sensor fault
detection for induction motor is proposed using Higher order
sliding mode (HOSM) controller. HOSM controller offers
both decoupled control and sensor fault detection. The rotor
speed of the induction motor is not required for decoupling
the d-q currents. The speed can be estimated through
algebraic calculations using the compensation voltages
generated by the decoupling compensators. A fault detection
algorithm is designed and the fault can be detected by
comparing the actual speed and reference speed. HOSM
controller plays an important role in reducing the chattering
effect and to avoid the use of low pass filters. From the above
it can be concluded that SMC is a promising controller for
three phase induction motor. In continuation of that, SMC is
preferred in multiphase and linear machines.
Multiphase Induction motors are used in various industrial
applications such as electric vehicles, textile industries and
paper mills. The advantages of multiphase induction machine
instead of three phase machine are better fault tolerant, higher
torque density, low torque pulsations and reduced drive noise.
In [21], two six-phase induction machine drive in parallel
connection is proposed and this arrangement is supplied by a
single six phase voltage source inverter. A combination of
sliding mode control with direct torque control (DTC) is used
for each induction motor in stationary reference frame.
Decoupling control of torque and flux are also discussed. This
adaptive non linear controller is capable of controlling the
stator flux and torque of each motor separately. The
mismatching of motor resistances is also solved using adaptive
scheme. In Direct Torque Control (DTC) of a six-phase
induction motor, a new switching method is introduced to
reduce the current harmonics. In this DTC method, the
suitable voltage vectors are selected from two vector groups.
From these suitable selected vectors, the amplitude of the
harmonics is decreased in each sampling period. The
amplitude of each harmonics is determined by the spectrum
analysis of the phase current. In this method the sampling time
is reduced in comparison to the ordinary method. The
simulation and hardware results are shown in this paper [22].
In [23], the Linear Induction Motor (LIM) driven by matrix
converter and its performance is compared with conventional
LIM drives driven by three phase inverters. To control the two
converters space-vector pulse-width modulation (SVM) and
indirect field oriented control (IFOC) is applied. The
simulation is implemented using the MATLAB/SIMULINK.
In addition, the harmonics content and THD of the input and
output voltage and current for both converters is compared.
III. SMC FOR SPECIAL MACHINES
The dynamic response of the brushless DC motor is
improved by using fuzzy sling mode control technique [24].
The controller avoids the noise of acceleration signal as in
convention sliding mode control and uses only the speed error
signal. The controller builds up by control term, switching
term and fuzzy term. According the distance of system states
from sliding surface, SMC is varied to achieve less noise in
DC motor [24]. SMC is approached to a four switch Three-
phase Brushless DC Motor with single current sensor. The
expensive two current sensors are saved and the system
incorporates with single current sensor. Phase plane portrait
and Taylor- series expansion methods are adopted to
determine the sliding mode plane convergence [25].
The speed control of BLDC motor is proposed using dual
closed loop control method based on first order sliding mode
(FOSM) control and second order sliding mode (SOSM).
FOSM is used in inner torque control loop for improved
dynamic performance and SOSM based on super twisting
algorithm is used for outer speed control loop. The results are
compared with traditional dual PI controllers [26]. Nowadays
Interior permanent-magnet synchronous motors play a vital
role in modern electric vehicles and industrial applications.
The electric drives with these motors requires atleast two
current sensors for high performance. The overall performance
of the system becomes poor when fault occurs in any one of
the sensors. So a fault detection algorithm is proposed in [27]
based on extended kalman filter. This algorithm isolates the
sensor faults and increases the performance of the overall
system.
A new discrete-time super-twisting sliding mode observer
with variable gains for sensorless non sinusoidal vector
control of permanent magnet synchronous motors is discussed
in [28]. The observer estimates the back electromotive forces
(back-EMF) that are required for the rotor speed estimation
and for the non sinusoidal vector control. The experimental
result shows the performance of the proposed observer.
Sensorless sliding mode observer is implemented for five-
phase permanent magnet synchronous motor drive. The
observer is designed based on the back electromotive force
(EMF) of five-phase permanent magnet synchronous motor.
The stability of the observer is demonstrated using Lyapunov
stability criteria [29]. In [30], a sliding mode controller is
presented for the stator voltage regulation of a stand-alone
wound rotor synchronous generator. The closed loop system
regulates the amplitude of stator voltage even though the load
parameter varies.
In [31], a sliding mode scheme for effective speed tracking
is obtained for BLDC motor. Two first order sliding mode
controllers are implemented based on the exponential reaching
law algorithm. One for the inner current control loop and
another for outer speed control loop of the drive. Speed
tracking is compared with classical PI (Proportional and
Integral) controller implemented for the speed loop. Sliding
mode control is approached for reaction flywheel to improve
the output torque and rotational speed. Reaction flywheel is
an actuator used in satellites for attitude control. The control
laws for reaction flywheel are deducted by selecting various
sliding surfaces at electromotion, energy consumption
braking, reverse connection braking stages. The proposed
control method improves the rotational speed regulation,
rejection of disturbances, and high-precision output torque
[32].
Robust observer-control schemes are discussed for the
sensorless permanent magnet synchronous motor and Interior
permanent magnet synchronous motor [33]. The conditions
for closed loop stability are given. For the proposed observer
schemes the robustness have been presented and tested [33].
IV. SMC FOR POWER CONVERTERS
Power converters falls into the variable structure system due
to the structure of the converter changes with every control
signal.
Three different control techniques are discussed in [34] for
Matrix converter based unified power flow controllers. PI
linear controllers, decoupled linear controllers (DLC) and
sliding-mode-based nonlinear Direct power controllers (DPC)
are analysed for active and reactive power flow in three phase
Matrix converters. From these controllers active and reactive
power is controlled is effectively controlled using sliding-
mode-based nonlinear Direct power controllers (DPC). The
experimental results show that through DPC technique steady TABLE 1 GAIN RANGES FOR DIFFERENT CONTROLLERS
state error reduces, no cross coupling and fast time response.
Controller Ranges of
Sliding mode is applied to Control the three-phase AC/DC
Vienna converter for power factor correction [35]. The Vienna LAC [0.5715, 0.9059]
FLC [0.6855 1.9787]
converter behaves like loss free resistor (LFR) for the power
PBC [0.6506, 0.9910]
factor correction. SMC 0.4738
A fast and robust control for multilevel inverter is presented SM+PBC [0.6409, 1.602]
in [36] for grid-connected photovoltaic system. The design
topology for multilevel inverter is based on a dual two-level Also in [43], the cut off frequency range and steady state
inverter. Two isolated PV generators are used to feed each gain range is obtained experimentally for various controllers.
inverter bridge. The inverter output is connected to three phase
transformer. The sliding mode algorithm is approached to TABLE 2 CUT OFF FREQUENCY RANGE & STEADY STATE GAIN
control the active and reactive power flow in the grid. Sliding RANGE FOR DIFFERENT CONTROLLERS
mode controller is also used to control the inverter DC
Controller Steady-state gain Cut-off frequency
voltages [37]. Sliding mode control is applied to multiphase range range (Hz)
buck converter for chattering reduction. A four phase buck Open loop 2 14
converter is designed and the sliding mode controller is LAC [1.5625 ,1.125] [10.0,10.1]
programmed in field-programmable gate array (FPGA). FLC [3.10, 1.16] [2.4 ,14.0]
PBC [1.375, 1.875] [7.0, 10.1]
Digital power factor correction controller is designed for SMC 1.06 10
two Interleaved Boost converters with pulse width modulation SM+PBC [1.1325, 1.75] [7, 10.2]
technique[38]. Both the converters are controlled
independently with two control loops. One is inner current
control loop which is designed based on the discrete-time TABLE 3 COMPARITIVE TABLE FOR DIFFERENT CONTROL
sliding-mode technique and the outer voltage loop which ALGORITHMS
controls the voltage using discrete-time proportionalintegral
Method Advantages
(PI) compensator obtained from the ideal sliding dynamics
SMC Sliding mode Tracking accuracy is high
[38]. control Higher performance in non linear
In [39], a hybrid optimal Genetic algorithm based Sliding systems
Mode Control (GA-SMC) is approached for Voltage Source Applied for MIMO systems
Converter High Voltage Direct Current (VSCHVDC)
FLC Fuzzy logic Applied for uncertain systems
transmission systems. This improves the systems dynamic control Easy to understand
stability under different operating conditions. Two control Easy to design
strategies are compared to analyse the better performance of
SMFC Sliding mode Rule base is reduced
the system. The conventional sliding mode control (CSMC)
fuzzy control Chattering effect is reduced
scheme is designed using a boundary layer hyperbolic tangent Stability and robustness is increased
function for the sliding surface. Then the simulation results are
compared with GA-SMC to determine the dynamic behavior FSMC Fuzzy sliding High robustness
mode control Reduced chattering problem
of the system. The comparative dynamic model analysis is
also discussed [39]. Discrete-Time Sliding Mode (DSMC) Adaptive FSMC High robustness
Spatial Control is presented in [40] for spatial power Reduced chattering problem
stabilization of advanced heavy water reactor (AHWR). The Easy to design
new DSMC methodology is designed using constant and
proportional rate reaching law with matched disturbance. In dc
dc converters a low cost memory based control method is V. RECENT TRENDS IN SMC
implemented based on sliding-mode hysteretic control strategy
[41]. In prior the sliding manifold is derived and stored as look Integral sliding mode (ISM)-based composite nonlinear
up table in digital memory hardware. This control method is feedback (CNF) control technique is proposed, which has the
low cost and offers good dynamic response. Sensor combined of advantages of CNF control in improving the
measurements are important to maintain safety in industrial transient performance and ISM control in guaranteeing good
gas turbines. Failure of sensors leads to a serious problem. robustness. Independent active and reactive power
Adaptive sliding mode observer is developed for sensor fault management of a three-phase grid-connected photovoltaic
diagnosis with robustness against gas turbine parameter (PV) generation system is discussed in [44] using a new
uncertainties [42]. nonlinear control approach for the voltage source converter
In [43], nonlinear controllers such as Linear averaged (VSC). The instantaneous active and reactive powers are used
controller (LAC), Feedback linearizing controller (FLC), as estimated error parameters instead of direct and quadrature-
Passivity-based controller (PBC), Sliding mode controller axis currents of the VSC. This approach reduces the
(SMC), and Sliding mode plus passivity-based controller computational time. To improve the stability, backstepping
(SM+PBC) are compared for boost converters. The gain finite time fast sliding mode (BFTSM) control technique is
ranges for different controllers is given in the table 1. implemented [44].Non- linear sliding mode controller is
approached of a hybrid fuel cell/supercapacitor source [45]. It
is made up of a Polymer Electrolyte Membrane Fuel Cell
(PEMFC 500 W) and a supercapacitor stack (800 W). A
classical PI controller is incorporated to control DC bus
voltage to determine the FCs reference current. With constant
or variable frequency, a sliding mode controllers is used to
control the SC and FC currents by boost and DC-DC
bidirectional converters [45].
In [46], the design, analysis and verification of digital
integral terminal sliding mode predictive control of
Piezoelectric-driven system is approached. The controller does
not require hysteresis model and state observer. So it is very
easy to implement. The results are compared with digital
integral terminal sliding mode predictive control (DITSMPC)
and digital integral terminal sliding mode control (DITSMC).
From the results the DITSMPC is superior to DITSMC.
Sliding mode control is approached to control the four-wheel
independently actuated (FWIA) autonomous vehicles via
integrated control of the active front-wheel steering (AFS) and
direct yaw-moment control (DYC) [47]. In [48], Total sliding
mode controller (TSMC) is implemented to improve the
performance direct power control (DPC) of doubly fed
induction generators (DFIGs) driven by variable speed wind
turbines. Two integral switching functions are selected for
controlling the active and reactive powers.
An adaptive second order sliding mode controller is applied
to 3-DOF helicopter for the regulation and trajectory tracking
[49]. A continuous differentiator combined with sliding mode
control technique is implemented to reduce the control effort.
The experimental result for the proposed scheme is analyzed
under external disturbances. In aerospace and automotive
applications Vehicle health monitoring system (VHMS) is
commonly used [50]. VHMS needs sensors for processing the
data for fault detection and isolation. A cascaded sliding mode
observer is designed for detecting and isolating the sensor
faults [50].
A comparative analysis of conventional proportional-
integral-derivative (PID), sliding mode control (SMC) with
PD and PID type sliding surface (SS), and fuzzy logic control
based on the performance is done in [51] to design the
Electronic Throttle Control System (ETCS). A sliding mode
observer with higher order sliding mode controller is applied
for a mechanical sensorless pumping system in [52]. The
sliding mode observer estimates the speed and the angular
velocity of the DC motor. In [53], the Comparison between
sliding mode control and continuous time periodic controller
is applied for the stabilization of cart-inverted pendulum. The
performance of the two control methods is tested to verify the
gain margin and phase margin.
VII. CONCLUSION
In this paper, review of sliding mode control for electric
drives and its latest trends is completed. Further it is planned
to implement higher order sliding mode control in real time
for induction motors, synchronous motors and BLDC motors
in future.
REFERENCES
[1] V.M. Panchade, R.H. Chile, B.M. Patre, A survey on
sliding mode control strategies for induction motors
Annual Reviews in Control, Volume 37, Issue 2,
December 2013, Pages 289-307.
[2] Asif sabanovic, Leonid Fridman and Sarah Spurgeon
Variable Structure Systems from principles to
implementation 2013.
[3] M. Lavanya, R. M. Brisilla and V. Sankaranarayanan,
"Higher order sliding mode control of permanent magnet
DC motor," Variable Structure Systems (VSS), 2012 12th
International Workshop on, Mumbai, Maharashtra,
2012, pp. 226-230. -2012.
[4] H. Chaal and M. Jovanovic, "Second Order Sliding
Mode Control of a DC drive with uncertain parameters
and load conditions," 2010 Chinese Control and
Decision Conference, Xuzhou, 2010, pp. 3204-3208.
[5] Hun-Fei Hsu, Bore-Kuen Lee, FPGA-based adaptive
PID control of a DC motor driver via sliding-mode
approach, Expert Systems with Applications, Volume
38, Issue 9, September 2011.
[6] D. Kumar and A. Kulkarni, "Design of non-linear sliding
surface for robust position control of DC
motor," Engineering and Systems (SCES), 2014 Students
Conference on, Allahabad, 2014, pp. 1-6.
[7] R. Silva-Ortigoza, V. M. Hernndez-Guzmn, M.
Antonio-Cruz and D. Muoz-Carrillo, "DC/DC Buck
Power Converter as a Smooth Starter for a DC Motor
Based on a Hierarchical Control," in IEEE Transactions
on Power Electronics, vol. 30, no. 2, pp. 1076-1084,
Feb. 2015.
[8] M. Owayjan, R. A. Z. Daou and X. Moreau, "A
comparison between frequency domain and time domain
controller synthesis: Position control of a DC
motor," Technological Advances in Electrical,
Electronics and Computer Engineering (TAEECE), 2015
Third International Conference on, Beirut, 2015, pp.
201-206.
[9] T. R. Dil Kumar and S. J. Mija, "Dynamic SMC control
scheme with adaptively tuned PID controller for speed
control of DC motor," Industrial Technology (ICIT),
2015 IEEE International Conference on, Seville, 2015,
pp. 187-191.
[10] S. A. A. Rizvi, M. Faisal, H. Aftab, S. Ahmed and A. Y.
Memon, "A robust observer and controller design for a
DC motor with a low-resolution encoder," The 27th
Chinese Control and Decision Conference (2015
CCDC), Qingdao, 2015, pp. 3038-3043.
[11] V. Singh and V. Sharma, "Sliding mode controller
design for DC motor with non-linearities," Computation
of Power, Energy Information and Commuincation
(ICCPEIC), 2015 International Conference on, Chennai,
2015, pp. 0558-0563.
[12] D. A. Martins and J. P. V. S. Cunha, "Damping resonant
modes in DC motors using sliding mode control," 2015
IEEE 24th International Symposium on Industrial
Electronics (ISIE), Buzios, 2015, pp. 72-77.
[13] K. Lodha and M. P. Bhawalkar, "Robust control of DC
drive using sliding mode control," 2015 International
 Conference on Energy Systems and Applications, Pune,
India, 2015, pp. 645-649.
[14] J.B. Oliveira, A.D. Araujo, S.M. Dias, Controlling the
speed of a three-phase induction motor using a
simplified indirect adaptive sliding mode scheme,
Control Engineering Practice, Volume 18, Issue 6, June
2010, Pages 577-584.
[15] A. Saghafinia, H. W. Ping, M. N. Uddin and K. S.
Gaeid, "Adaptive Fuzzy Sliding-Mode Control into
Chattering-Free IM Drive," in IEEE Transactions on
Industry Applications, vol. 51, no. 1, pp. 692-701, Jan.-
Feb. 2015.
[16] C. Lascu, I. Boldea and F. Blaabjerg, "Direct torque
control of sensorless induction motor drives: a sliding-
mode approach," in IEEE Transactions on Industry
Applications, vol. 40, no. 2, pp. 582-590, March-April
2004.
[17] M. Comanescu, L. Xu and T. D. Batzel, "Decoupled
Current Control of Sensorless Induction-Motor Drives
by Integral Sliding Mode," in IEEE Transactions on
Industrial Electronics, vol. 55, no. 11, pp. 3836-3845,
Nov. 2008.
[18] M. Comanescu, "Design and Implementation of a Highly
Robust Sensorless Sliding Mode Observer for the Flux
Magnitude of the Induction Motor," in IEEE
Transactions on Energy Conversion, vol. 31, no. 2, pp.
649-657, June 2016.
[19] J. A. Moreno and M. Osorio, "A Lyapunov approach to
second-order sliding mode controllers and observers,"
Decision and Control, 2008. CDC 2008. 47th IEEE
Conference on, Cancun, 2008, pp. 2856-2861.
[20] K. Kommuri, J. J. Rath, K. C. Veluvolu, M. Defoort and
Y. C. Soh, "Decoupled current control and sensor fault
detection with second-order sliding mode for induction
motor," in IET Control Theory & Applications, vol. 9,
no. 4, pp. 608-617, 2 26 2015.
[21] Navid R. Abjadi, Sliding-mode control of a six-phase
series/parallel connected two induction motors drive,
ISA Transactions, Volume 53, Issue 6, November 2014,
Pages 1847-1856.
[22] A. Taheri, Harmonic reduction of Direct Torque
Control of six-phase induction motor, ISA
Transactions, Available online 24 March 2016.
[23] Essam E.M. Mohamed, Mahmoud A. Sayed, Matrix
converters and three-phase inverters fed linear induction
motor drivesPerformance compare, Ain Shams
Engineering Journal, Available online 21 March 2016.
[24] Hailong Song, Yong Yu, Ming Yang and Dianguo Xu,
"A novel SMC-fuzzy speed controller for permanent
magnet brushless DC motor," Applied Power Electronics
Conference and Exposition, 2003. APEC '03. Eighteenth
Annual IEEE, Miami Beach, FL, USA, 2003, pp. 281-
285.
[25] F. Qiang, L. Hui and Z. Hai-tao, "Single-current-sensor
Sliding Mode Driving Strategy for Four-switch Three-
phase Brushless DC Motor," Industrial Technology,
2006. ICIT 2006. IEEE International Conference on,
Mumbai, 2006, pp. 2396-2401.
[26] M. Lavanya, R. M. Brisilla and V. Sankaranarayanan,
"Higher order sliding mode control of permanent magnet
DC motor," Variable Structure Systems (VSS), 2012 12th
International Workshop on, Mumbai, Maharashtra,
2012, pp. 226-230. -2012.
[27] G. H. B. Foo, X. Zhang and D. M. Vilathgamuwa, "A
Sensor Fault Detection and Isolation Method in Interior
Permanent-Magnet Synchronous Motor Drives Based on
an Extended Kalman Filter," in IEEE Transactions on
Industrial Electronics, vol. 60, no. 8, pp. 3485-3495,
Aug. 2013.
[28] Cassio Luciano Baratieri, Humberto Pinheiro, New
variable gain super-twisting sliding mode observer for
sensorless vector control of nonsinusoidal back-EMF
PMSM, Control Engineering Practice, Volume 52, July
2016.
[29] Anissa Hosseyni, Ramzi Trabelsi, Med Faouzi Mimouni,
Atif Iqbal, Rashid Alammari, Sensorless sliding mode
observer for a five-phase permanent magnet synchronous
motor drive, ISA Transactions, Volume 58, September
2015.
[30] Ral-S. Muoz-Aguilar, Arnau Dria-Cerezo, Enric
Fossas, Extended SMC for a stand-alone wound rotor
synchronous generator, International Journal of
Electrical Power & Energy Systems, Volume 84,
January 2017.
[31] J. J. Rath, S. Saha and H. P. Ikkurti, "Sliding mode
scheme for speed and current control of brushless DC
(BLDC) motor," Advances in Engineering, Science and
Management (ICAESM), 2012 International Conference
on, Nagapattinam, Tamil Nadu, 2012.
[32] Gang Liu, Cong Zhang, Sliding mode control of
reaction flywheel-based brushless DC motor with buck
converter, Chinese Journal of Aeronautics, Volume 26,
Issue 4, August 2013.
[33] Alain Glumineau ,Jess de Len Morales Sensorless
AC Electric Motor Control Robust Advanced Design
Techniquesand Applications Springer -2015.
[34] J. Monteiro, J. F. Silva, S. F. Pinto and J. Palma, "Linear
and Sliding-Mode Control Design for Matrix Converter-
Based Unified Power Flow Controllers," in IEEE
Transactions on Power Electronics, vol. 29, no. 7, pp.
3357-3367, July 2014.
[35] F. Flores-Bahamonde, H. Valderrama-Blavi, L.
Martnez-Salamero, J. Maix-Alts and G. Garca,
"Control of a three-phase AC/DC VIENNA converter
based on the sliding mode loss-free resistor approach," in
IET Power Electronics, vol. 7, no. 5, pp. 1073-1082,
May 2014.
[36] V. Ferno Pires, J.F. Martins, Chen Hao, Dual-inverter
for grid-connected photovoltaic system: Modeling and
sliding mode control, Solar Energy, Volume 86, Issue
7, July 2012.
[37] R. Ramos, D. Biel, E. Fossas, R. Grio, Sliding mode
controlled multiphase buck converter with interleaving
and current equalization, Control Engineering Practice,
Volume 21, Issue 5, May 2013.
[38] A. Marcos-Pastor, E. Vidal-Idiarte, A. Cid-Pastor and L.
Martinez-Salamero, "Interleaved Digital Power Factor
Correction Based on the Sliding-Mode Approach," in
IEEE Transactions on Power Electronics, vol. 31, no. 6,
pp. 4641-4653, June 2016.
[39] M. Ahmed, M.A. Ebrahim, H.S. Ramadan, M. Becherif,
Optimal Genetic-sliding Mode Control of VSC-HVDC
Transmission Systems, Energy Procedia, Volume 74,
August 2015, Pages 1048-1060.
[40] R. K. Munje, B. M. Patre and A. P. Tiwari, "Discrete-
Time Sliding Mode Spatial Control of Advanced Heavy
Water Reactor," in IEEE Transactions on Control
Systems Technology, vol. 24, no. 1, pp. 357-364, Jan.
2016.
[41] Bibaswan Banerjee, Ramchandra M. Kotecha, Wayne
W. Weaver, Digital memory look-up based
implementation of sliding mode control for dcdc
converters Control Engineering Practice,Volume54,
September 2016, Pages 1-11.
[42] Sandy Rahme, Nader Meskin, Adaptive sliding mode
observer for sensor fault diagnosis of an industrial gas
turbine, Control Engineering Practice, Volume 38, May
2015, Pages 57-74.
[43] G. Escobar, R. Ortega, H. Sira-Ramirez, J. P. Vilain and
I. Zein, "An experimental comparison of several non
linear controllers for power converters," Industrial
Electronics, 1997. ISIE '97., Proceedings of the IEEE
International Symposium on, Guimaraes, 1997, pp.
SS89-SS94 vol.1.
[44] S. Dhar, P.K. Dash, A new backstepping finite time
sliding mode control of grid connected PV system using
multivariable dynamic VSC model International
Journal of Electrical Power & Energy Systems, Volume
82, November 2016, Pages 314-330.
[45] O. Kraa, H. Ghodbane, R. Saadi, M.Y. Ayad, M.
Becherif, A. Aboubou, M. Bahri, Energy Management
of Fuel Cell/ Supercapacitor Hybrid Source Based on
Linear and Sliding Mode Control Energy Procedia,
Volume 74, August 2015, Pages 1258-1264.
[46] Q. Xu, "Digital Integral Terminal Sliding Mode
Predictive Control of Piezoelectric-Driven Motion
System," in IEEE Transactions on Industrial
Electronics, vol. 63, no. 6, pp. 3976-3984, June 2016.
[47] C. Hu, R. Wang and F. Yan, "Integral Sliding Mode-
Based Composite Nonlinear Feedback Control for Path
Following of Four-Wheel Independently Actuated
Autonomous Vehicles," in IEEE Transactions on
Transportation Electrification, vol. 2, no. 2, pp. 221-230,
June 2016.
[48] E.G. Shehata, Sliding mode direct power control of
RSC for DFIGs driven by variable speed wind turbines
Alexandria Engineering Journal, Volume 54, Issue 4,
December 2015, Pages 1067-1075.
[49] H. Castaneda; F. Plestan; A. Chriette; J. de Leon-
Morales, "Continuous differentiator based on adaptive
second order sliding mode control for a 3-DOF
helicopter," in IEEE Transactions on Industrial
Electronics, vol.PP, no.99.
[50] L. H. L. Chan, C. P. Tan and M. Shanmugavel, "Fault
detection in a rotational system with an eccentric load
using sliding mode observer," Control Conference
(ASCC), 2015 10th Asian, Kota Kinabalu, 2015, pp. 1-6.
[51] A. K. Yadav, P. Gaur and S. Tripathi, "Design and
control of an intelligent electronic throttle control
system," Energy Economics and Environment (ICEEE),
2015 International Conference on, Noida, 2015, pp. 1-5.
[52] A. Rhif, "A sliding mode observer for a sensorless
pumping system," 2015 7th International Conference on
Modelling, Identification and Control (ICMIC), Sousse,
2015, pp. 1-6.
[53] A. Chakraborty and J. Dey, "Performance comparison
between sliding mode control and periodic controller for
cart-inverted pendulum system," Industrial Technology
(ICIT), 2015 IEEE International Conference on, Seville,
2015, pp. 405-410.
R. DHANASEKAR received the B.E.
degree in Electrical and Electronics
engineering from RVS college of
Engineering & technology , Tamilnadu,
India , in 2004, the M.E. degree in Power
electronics & drives from Mepco Schlenk
Engineering college, Anna University,
Tamilnadu, India in 2006, and pursuing
PhD degree in Anna University, CEG,
Chennai , Tamilnadu , India. He is currently
working at Sri Sairam Institute of
technology, Chennai, as an Assistant
Professor.
S. Ganesh Kumar was born on May 25,
1977. He completed his B.E., M.E., and
Ph.D. degrees from Madras University and
Anna University in 1998, 2005 and 2014
respectively. He is presently working at
Anna University, Chennai as Assistant
Professor in Department of Electrical and
Electronics Engineering. His areas of
interest are Electrical Machines and
Drives.
Marco Rivera (S'09--M'11) received his
B.Sc. in Electronics Engineering and
M.Sc. in Electrical Engineering from the
Universidad de Concepcin, Chile in
2007 and 2008, respectively. He received
his Ph.D. degree at the Department of
Electronics Engineering, Universidad
Tcnica Federico Santa Mara (UTFSM),
in Valparaso, Chile, in 2011. He is
currently Associate Professor in the
Department of Electrical Engineering at
Universidad de Talca, Curic, Chile. His
main research areas are digital control
applied to power electronics, matrix
converters, predictive control and control
of power converters for renewable energy applications.