Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor

Figure 4

Bifurcation diagram of the output (𝑊_𝑚) and duty cycle (𝑑) of the controlled system varying the bifurcation parameter 𝐾_𝑆3.

(a)  Simulation results and output of the system

(b) Simulation results and duty cycle

(c) Experimental results and output of the system

(d) Experimental results and duty cycle