Engineering Science and Technology, an International Journal 35 (2022) 101212

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Engineering Science and Technology,

an International Journal
journal homepage: www.elsevier.com/locate/jestch

Full Length Article

Design and real-time implementation of a robust fractional second-order

sliding mode control for an electromechanical system comprising
uncertainties and disturbances
Necdet Sinan Özbek a
a
Department of Electrical and Electronics Engineering, Adana Alparslan Türkesß Science and Technology University, Adana 01250 Turkey

a r t i c l e i n f o a b s t r a c t

Article history: The present article evaluates the design, analysis, and implementation of a novel fractional second-order
Received 1 March 2022 sliding mode control scheme for an uncertain second-order system. The developed controller comprises a
Revised 3 June 2022 fractional-order proportional integral derivative sliding surface. The closed-loop stability analysis is per-
Accepted 28 June 2022
formed by using the Lyapunov theorem. The proposed equivalent and switching control signals have
Available online 29 July 2022
been mathematically evaluated at various scenarios comprising uncertainties and disturbances. Several
simulations are investigated by including model uncertainties, measurement noises, and disturbances.
Keywords:
In addition, various real-time experiments are conducted with different operating conditions. To this
Fractional-order control
Robustness
end, a real-time reduced-order approximated model of an electromechanical system is constructed.
High-order sliding mode control The controller performance has been compared with a number of control techniques to illustrate the
Electromechanical system promising features of the proposed fractional-order controller. It can be reported that the transient
Experimental application response of the system, control signals applicability, and disturbance rejection capability are quite satis-
factory when compared to recently presented control schemes. As a consequence, it is evident that the
control scheme has the ability to reduce the chattering phenomenon and increase the system’s
robustness.
 2022 Karabuk University. Publishing services by Elsevier B.V. This is an open access article under the CC
BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

1. Introduction
Industrial control applications are subject to various adversities
such as modelling errors, measurement noises, internal/external
disturbances, multiple operating points, and unmodeled character-
istics. The controlled plant has model parameter variations and
internal/external disturbances that constitute a great problem for
the control performance. Mechanical control systems are designed
to work with high precision despite nonlinearities and uncertain-
ties in the system [1]. Moreover, the robustness capability is crucial
if the electromechanical system is a subsystem of a critical opera-
tion that needs insensitivity to unmodeled dynamic. To this end,
several strategies have been highlighted to enhance the robustness
capability. In this context, sliding mode control (SMC) has been
extensively explored to realize high-performance feedback control
applications. The SMC has gained considerable attention for its
prominent features, such as robustness capability, simple design
procedure, and ease of implementation. The central idea of the
SMC is to ensure an invariant set when the system remains on
E-mail address: nozbek@atu.edu.tr
the manifold [2,3]. The system will be insensitive even if it is sub-
ject to disturbances and uncertainties. Hence, the controller con-
fines the states around the pre-determined sliding surface with a
switching mechanism that eventually leads to a chattering phe-
nomenon [4]. However, this may cause harmful effects such as
actuator lifetime reduction and control performance degradation.
Over the past decades, the combination of the SMC with other
control strategies is an important research avenue. In this context,
a recent survey of the SMC applications is presented in [5]. Design
and application of various SMC techniques have been addressed in
[6]. An adaptive SMC algorithm is presented in [7]. The control
scheme presents an effective fault-tolerant algorithm in the pres-
ence of actuator faults. Yet another study highlights an adaptive
super-twisting reaching law to enhance the chattering elimination
performance [8]. Another interesting example of adaptive SMC
based on fuzzy logic strategy is addressed for controlling an under-
water vehicle [9]. A barrier function adaptive non-singular termi-
nal SMC technique is addressed in [10], wherein a linear
manifold is presented for error convergence. A PID-type terminal
SMC mechanism is applied for both machine-side and grid-side
converter [11]. The controller improves the response time of the

https://doi.org/10.1016/j.jestch.2022.101212
2215-0986/ 2022 Karabuk University. Publishing services by Elsevier B.V.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).