In this paper, a novel controller based on the Integral Sliding Mode
Controller (ISMC) is proposed and designed for controlling DC motor in a
servo drive. The modeling and analysis of the servo DC motor are
obtained. To improve the controller performance in steady state (zero
error), the integral sliding mode controller (ISMC) is designed and
evaluated. Since the main drawback of SMC is a phenomenon, that called
chattering resulting from discontinuous controllers. An ISMC with
switched gains is used for chattering reduction and controller robustness.
For comparison, the proposed ISMC with switched gains is compared with
that of a PID controller. Experimental verification and simulations have
been carried out in order to validate the effectiveness of the proposed
scheme. The proposed controller offers very good tracking, also it is highly
robust and controlled plant reached very fast to the final position.
Furthermore the application of the SM ensures reduction of the system
order by one and quick recovery from matched disturbance in addition to
good tracking. Moreover, this scheme is robust against the parameters
variations.