Comparative Evaluation of Fuzzy Logic, Sliding Mode, and LQR Controllers for DC Motor Position Control
DOI:
https://doi.org/10.59247/jfsc.v4i2.405Keywords:
DC Motor, Fuzzy Logic Control, Sliding Mode Control, LQR, Position Control, Advanced ControlAbstract
This paper presents a comparative evaluation of three advanced control strategies for DC motor position control, namely Fuzzy Logic Control (FLC), Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). First, the mathematical model of the DC motor is derived from the electrical and mechanical dynamic equations. Based on this model, the three controllers are designed and implemented in MATLAB/Simulink and experimentally validated on a microcontroller-based platform under identical operating conditions. The comparative analysis is performed using quantitative performance indices, including settling time, overshoot, steady-state error, and control effort. Simulation and experimental results show that the SMC controller provides the best overall performance with fast convergence, high robustness, and small steady-state error, while the FLC approach achieves smoother responses with moderate transient performance. The LQR controller demonstrates rapid state regulation but produces larger transient peaks and higher control effort compared with the other methods. The results highlight the practical trade-offs among intelligent, robust, and optimal control strategies for low-cost DC motor position control applications.
References
Q. Ariyansyah and A. Ma’arif, “DC Motor Speed Control with Proportional Integral Derivative (PID) Control on the Prototype of a Mini-Submarine,” Journal of Fuzzy Systems and Control, vol. 1, no. 1, pp. 18–24, 2023, https://doi.org/10.59247/jfsc.v1i1.26.
O. Andrs, T. Brezina, and J. Kovar, “Design of fuzzy logic controller for DC motor,” in Mechatronics: Recent Technological and Scientific Advances, Springer, pp. 9–18, 2011, https://doi.org/10.1007/978-3-642-23244-2_2.
H. P. Wang, “Design of fast fuzzy controller and its application on position control of DC motor,” in 2011 International Conference on Consumer Electronics, Communications and Networks, CECNet 2011 - Proceedings, pp. 4902–4905, 2011, https://doi.org/10.1109/CECNET.2011.5768497.
R. Manikandan and R. Arulmozhiyal, “Position control of DC servo drive using fuzzy logic controller,” in 2014 International Conference on Advances in Electrical Engineering, ICAEE 2014, 2014, https://doi.org/10.1109/ICAEE.2014.6838474.
A. Chatterjee, “Wind Power Forecasting using Type-2 Fuzzy Control and its Optimization based on Artificial Neural Network for Small Scale Wind Power,” Journal of Fuzzy Systems and Control, vol. 2, no. 3, pp. 170–175, 2024, https://doi.org/10.59247/jfsc.v2i3.259.
M.-D. Tran et al., “Experimental Swing-Up Control of Advanced Sliding and Energy-based Modes for Pendubot,” Journal of Fuzzy Systems and Control, vol. 3, no. 1, pp. 51–56, 2025, https://doi.org/10.59247/jfsc.v3i1.277.
M. Alexík and J. Vittek, “Adaptive Sliding Mode Control of Position Servo System,” in New Trends in Design of Control Systems 1994, pp. 245–250, 1995, https://doi.org/10.1016/b978-0-08-042367-8.50047-1.
G. Mamani, J. Becedas, and V. F. Batlle, “Robust position control of a DC motor by sliding mode,” in IFIP Advances in Information and Communication Technology, vol. 314, in IFIP Advances in Information and Communication Technology, vol. 314, pp. 495–504, 2010, https://doi.org/10.1007/978-3-642-11628-5_55.
A. A. Ahmed, R. B. Ahmad, A. Yahya, H. H. Tahir, and J. Quinlan, “Variable structure system with sliding mode controller,” Procedia Engineering, vol. 53, pp. 441–452, 2013, https://doi.org/10.1016/j.proeng.2013.02.058.
G. Murtaza and A. I. Bhatti, “Control of DC motors using sliding mode,” in Proceedings of 2012 9th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2012, Islamabad, Pakistan, pp. 37–42, 2012, https://doi.org/10.1109/IBCAST.2012.6177523.
M. Guermouche, S. A. Ali, and N. Langlois, “Super-Twisting Algorithm for DC Motor Position Control via Disturbance Observer,” IFAC-PapersOnLine, vol. 48, no. 30, pp. 43–48, 2015, https://doi.org/10.1016/j.ifacol.2015.12.351.
D.-P. Hoang et al., “A Survey of Experimental LQR for Cart and Pole,” Journal of Fuzzy Systems and Control, vol. 2, no. 2, pp. 97–103, 2024, https://doi.org/10.59247/jfsc.v2i2.211.
Z. Xiang and W. Wei, “Design of DC motor position tracking system based on LQR,” in Journal of Physics: Conference Series, 2021, p. 12052, https://doi.org/10.1088/1742-6596/1887/1/012052.
R. M. K. A.-M. Hummadi, “Simulation of Optimal Speed Control for a DC Motor Using Linear Quadratic Regulator (Lqr),” Journal of Engineering, vol. 18, no. 03, pp. 340–349, 2023, https://doi.org/10.31026/j.eng.2012.03.07.
S. Dani, D. Sonawane, D. Ingole, and S. Patil, “Performance evaluation of PID, LQR and MPC for DC motor speed control,” in 2017 2nd International Conference for Convergence in Technology, I2CT 2017, pp. 348–354, 2017, https://doi.org/10.1109/I2CT.2017.8226149.
M. A. Aravind, N. Saikumar, and N. S. Dinesh, “Optimal position control of a DC motor using LQG with EKF,” in 2017 International Conference on Mechanical, System and Control Engineering, ICMSC 2017, pp. 149–154, 2017, https://doi.org/10.1109/ICMSC.2017.7959461.
H. KIZMAZ, “Comparative Analysis of Optimal Control Strategies: LQR, PID, and Sliding Mode Control for DC Motor Position Performance,” Gazi University Journal of Science Part A: Engineering and Innovation, vol. 10, no. 4, pp. 571–592, 2023, https://doi.org/10.54287/gujsa.1393092.
C. Wang, J. Tang, B. Jiang, and Z. Wu, “Sliding-mode variable structure control for complex automatic systems: a survey,” Mathematical Biosciences and Engineering, vol. 19, no. 3, pp. 2616–2640, 2022, https://doi.org/10.3934/MBE.2022120.
G. Saravanan, C. Pazhanimuthu, and P. Naveen, “Performance improvement of DC motor control system using PID controller with Kookaburra and Red Panda optimization algorithm,” Scientific Reports, vol. 15, no. 1, 2025, https://doi.org/10.1038/s41598-025-87607-2.
A. Laware, “Design of Sliding Mode Control Strategy for DC Motor,” International Journal for Research in Applied Science and Engineering Technology, vol. 11, no. 5, pp. 7548–7552, 2023, https://doi.org/10.22214/ijraset.2023.53445.
Published
How to Cite
Issue
Section
License
Copyright (c) 2026 Minh-Thy Pham, Lam-Trong-Tuan Bui, Thi-Thanh-Hoang Le, Van-Bac Nguyen, Le-Khoi-Nguyen Cao, Le-Nhat-Minh Tran, Xuan-Manh Ngo, Phong-Luu Nguyen, Dinh-Phu Nguyen
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
