Abstract

Classical control methods such as PID control are effective for simple systems where the system model is well-known and tuning can be completed without significant time and financial investment. However, systems in the modern world have become more intricate and complicated to model, which also results in more extensive tuning being required to develop effective controllers. Sliding Mode Control was developed as a more robust way to handle nonlinear systems while ensuring global asymptotic stability using Lyapunov’s stability theorem. Traditional Sliding Mode Control does still require a well-known system model, necessitating the development of a new control method. Model-Free Sliding Mode Control is a new form of Sliding Mode Control that does not require knowledge of the system model and is instead based on the system order, state measurements, and previous control inputs. Previous work has applied Model-Free Sliding Mode Control augmented with a boundary layer to eliminate chattering. Least squares parameter estimation is used to find the control input influence gain matrix, which allows the method to be applied to systems where the gain matrix is not unitary. This work applies the previously mentioned control method to DC motor modules in place of classical control methods. The Model-Free Sliding Mode controller is tested against a PID controller and a traditional Sliding Mode controller to compare tracking performance and controller effort. Additionally, a better model for motor control is implemented for tuning the Sliding Mode Controller, which incorporates estimates for Coulomb friction. Results show the Model-Free Sliding Mode controller performs well when tracking a sine input and responding to a step input. It also exhibits better robustness when implemented on other motors without additional tuning.

Publication Date

7-30-2026

Document Type

Thesis

Student Type

Graduate

Degree Name

Mechanical Engineering (MS)

Department, Program, or Center

Mechanical Engineering

College

Kate Gleason College of Engineering

Advisor

Agamemnon Crassidis

Advisor/Committee Member

Jason Kolodziej

Advisor/Committee Member

Kathleen Lamkin-Kennard

Campus

RIT – Main Campus

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