Hierarchical Control of DC Motor Coupled with Cuk Converter Combining Differential Flatness and Sliding Mode Control


This paper proposes a hierarchical control law for DC motor fed by DC–DC power Cuk Converter. The control is divided into two parts: Firstly, the property of differential flatness associated with the mathematical model of the DC motor is studied to design a robust control that achieves the task of tracking the reference angular speed trajectory for the motor. It also gives the voltage profile \(\vartheta \) which must be followed by the Cuk converter. The second independent controller, based on cascade control, is proposed for the Cuk converter, which allows the converter output voltage to follow the specified trajectory \(\vartheta \). Sliding mode control is used in the inner loop, whereas proportional integral control is used in the proposed cascade controller’s outer loop. Numerical simulation of the hierarchical control technique is carried out in MATLAB/Simulink, and results under parametric variation show robustness. Finally, a comparison is drawn for speed trajectory tracking by the DC motor coupled with DC–DC buck and Cuk converter to show the performance improvement in case of using Cuk converter for angular speed trajectory tacking of a DC motor.

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The authors acknowledge the support provided by the King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia through the funded project # DF191004. Dr. Abido would also like to acknowledge the funding support provided by King Abdullah City for Atomic and Renewable Energy (K.A. CARE), Energy Research & Innovation Center (ERIC), KFUPM, Saudi Arabia.

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Correspondence to M. A. Abido.

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Arshad, M.H., Abido, M.A. Hierarchical Control of DC Motor Coupled with Cuk Converter Combining Differential Flatness and Sliding Mode Control. Arab J Sci Eng (2021). https://doi.org/10.1007/s13369-020-05305-9

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  • DC motor
  • Differential flatness
  • Sliding mode control (SMC)
  • Lyapunov stability
  • Cuk converter
  • Hierarchical control