Development of a microprocessor based controller using model free sliding mode control techniques

Controllers have been widely used for years due to many benefits such as increasing the efficiency of the systems, reducing the costs and increasing the output quality. Classical controllers such as PID controllers are generally preferred in the industry. However, with the developing technology, complex systems and modeling of systems becoming increasingly difficult, the need for new control algorithms arises, and controllers with microprocessors are becoming more and more common. In this study, it has been demonstrated with a developed microcontroller that the model free sliding mode control techniques, which have started to take place in open sources, are also applicable in practice. For this purpose, the angular position control of a suspended pendulum system was carried out with a microprocessor controller, which was developed using model free sliding mode control methods. The brushless direct current motor that rotates the propeller is driven with the control signal obtained by comparing the reference angle with the pendulum angle value calculated by evaluating the data transferred from the IMU sensor. In addition, thanks to the original interface developed with the microcontroller, commands can be taken from the user and the outputs of the system can be reflected to the user. In the study, a large number of simulations and experiments were carried out. Comparing the obtained response curves with the classical PID controller, it was seen that the microprocessor based controller, which was developed by using model free sliding mode control techniques, gives satisfactory results with its simple and robust structure, and suggestions were made for further studies.