Optimizing the Parameters of Sliding Mode Controllers for Stepper Motor through Simulink Response Optimizer Application

(1) * Magdi Sadek Mahmoud Mail (King Fahd University of Petroleum and Minerals, Saudi Arabia)
(2) Ali H. AlRamadhan Mail (Systems Engineering Department, Fahd University of Petroleum and Minerals, Saudi Arabia)
*corresponding author


This paper will focus on optimizing parameters of sliding mode controllers (SMC) for hybrid stepper motor models simulated in Matlab/Simulink. The main objective is to achieve a smooth transient and robust, steady-state to track reference rotor position when the stepper motor is subjected to load disturbances. Two different structures of SMC controllers will be studied, which are based on the flat system concept that is applicable to the stepper motor model. The hassle to determine controller parameters will be optimized using the Simulink Response Optimizer application.  The performance of the controllers will be evaluated by considering load torque and variation in the model parameters. Although the results showed that an open-loop controller could move the rotor to the desired position, however, the transient response had undesired oscillations before the output settled at the steady state. The response was improved by optimizing SMC controllers’ parameters to meet the desire step response requirement. Despite both SMC methods have successfully tracked the reference, there are some challenges to deal with each method in regard to the state measurements, the number of optimized controllers’ parameters, and the scattering of control inputs.


Sliding Mode Controller (SMC); Flat Output; Stepper Motor; Input-Output; State Feedback; Parameters Optimizations




Article metrics

10.31763/ijrcs.v1i2.345 Abstract views : 1769 | PDF views : 180




Full Text



[1] A. M. Karadeniz, M. Alkayyali, & P. T. Szemes, “Modelling and Simulation of Stepper Motor for Position Control Using LabVIEW,” Recent Innovations in Mechatronics, vol. 5, no. 1., pp. 1-5, 2018. https://doi.org/10.17667/riim.2018.1/7

[2] J. Franch, Flatness, tangent systems and flat outputs, 1999.

[3] H. L. Oo, S. Anatolii, Y. Naung, K. Z. Ye, and Z. M. Khaing, “Modelling and control of an open-loop stepper motor in Matlab/Simulink,” In 2017 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (EIConRus), 2017, pp. 869-872. https://doi.org/10.1109/EIConRus.2017.7910693

[4] V. Iordanova, H. Abouaïssa, and D. Jolly, “Sliding mode control and flatness-based concept for real-time ramp metering,” IFAC Proceedings Volumes, vol. 41, no. 2, 13046-13051, 2008. https://doi.org/10.3182/20080706-5-KR-1001.02206

[5] C.-K. Lai, B.-W. Lin, H.-Y. Lai, and G.-Y. Chen, “FPGA-Based Hybrid Stepper Motor Drive System Design by Variable Structure Control,” Actuators, vol. 10, no. 6, p. 113, 2021. https://doi.org/10.3390/act10060113

[6] L. C. Yuen, & P. Ehkan, “Design and implementation of FPGA based bipolar stepper motor controller for linear slide application,” Journal of Telecommunication, Electronic and Computer Engineering (JTEC), vol. 10, no. 1-4, PP. 85-88, 2018. https://jtec.utem.edu.my/jtec/article/view/3581

[7] A. R. Ajel, H. M. A. Abbas, and M. J. Mnati, “Position and speed optimization of servo motor control through FPGA,” International Journal of Electrical and Computer Engineering, vol. 11, no. 1, 2021. https://doi.org/10.11591/ijece.v11i1.pp319-327

[8] A. Muttaqin, S. D. Finnadi, Z. Abidin, and K. Araki, “FPGA based synchronous multi-channel PWM generator for humanoid robot,” International Journal of Electrical and Computer Engineering, vol. 11, no. 1, 2021. https://doi.org/10.11591/ijece.v11i1.pp249-256

[9] F. A. Silaban, S. Budiyanto, and W. K. Raharja, “Stepper motor movement design based on FPGA,” International Journal of Electrical and Computer Engineering, vol. 10, no. 1, 151, 2020. https://doi.org/10.11591/ijece.v10i1.pp151-159

[10] C. Wang, & D. Cao, “New sensorless speed control of a hybrid stepper motor based on fuzzy sliding mode observer,” Energies, vol. 13, no. 18, p. 4939, 2020. https://doi.org/10.3390/en13184939

[11] H. U. Suleiman, M. B. Mu’azu, T. A. Zarma, A. T. Salawudeen, S. Thomas, and A. A. Galadima, “Methods of chattering reduction in sliding mode control: a case study of ball and plate system,” In 2018 IEEE 7th International Conference on Adaptive Science & Technology (ICAST), 2018, pp. 1-8. https://doi.org/10.1109/ICASTECH.2018.8506783

[12] Y. Lv, C. Xu, H. Guo, and Y. Liu, “Research on sliding mode control of two-phase hybrid stepper motor based on new PI current algorithm,” In Journal of Physics: Conference Series, vol. 1449, no. 1, p. 012043, 2020. https://doi.org/10.1088/1742-6596/1449/1/012043

[13] P. P. Acarnley, Stepping motors: a guide to theory and practice (No. 63), 2002. https://doi.org/10.1049/PBCE063E

[14] M. B. N. Shah, A. R. Husain, and M. N. Ahmad, “Static sliding mode controller for permanent magnet stepper motor with disturbances,” In International Conference on Electrical, Control and Computer Engineering 2011 (InECCE), 2011, pp. 520-525. https://doi.org/10.1109/INECCE.2011.5953938

[15] H. Sira‐Ramírez, M. A. Aguilar‐Orduña, and E. W. Zurita‐Bustamante, “On the sliding mode control of MIMO nonlinear systems: An input‐output approach,” International Journal of Robust and Nonlinear Control, vol. 29, no. 3, pp. 715-735, 2019. https://doi.org/10.1002/rnc.4320

[16] R. P. Ruilope, Modelling and control of stepper motors for high accuracy positioning systems used in radioactive environments, Universidad Politecnica de Madrid, 2014. https://core.ac.uk/download/pdf/148670797.pdf

[17] M. Zribi, and J. Chiasson, “Position control of a PM stepper motor by exact linearization,” IEEE Transactions on Automatic Control, vol. 36, no. 5, pp. 620-625, May 1991. https://doi.org/10.1109/9.76368

[18] S. J. Parmar, M. S. Zala, I. S. Thaker, and K. M. Solanki, “Design and Development of Stepper Motor Position Control using Arduino Mega 2560,” International Journal of Science Technology and Engineering, vol. 3, no. 09, 2017. http://www.ijste.org/articles/IJSTEV3I9040.pdf

[19] L. N. Roshanna and N. R. Konduru, “IoT Based Stepper Motor Position Control for Industrial Automation,“ American Journal of Science, Engineering, and Technology, vol. 2, no. 4, 2017. http://www.sciencepublishinggroup.com/journal/paperinfo?journalid=325&doi=10.11648/j.ajset.20170204.12


  • There are currently no refbacks.

Copyright (c) 2021 Magdi Sadek Mahmoud

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

International Journal of Robotics and Control Systems
e-ISSN: 2775-2658
Website: https://pubs2.ascee.org/index.php/IJRCS
Email: ijrcs@ascee.org cc to alfian.maarif@te.uad.ac.id
Published by: Association for Scientific Computing Electronics and Engineering (ASCEE)
Office: Jalan Janti, Karangjambe 130B, Banguntapan, Bantul, Daerah Istimewa Yogyakarta, Indonesia