Date of Award

May 2024

Degree Type


Degree Name

Master of Science



First Advisor

Brian S.R. Armstrong

Committee Members

Yi Hu, Mohammad H. Rahman


The objective of this paper is to examine the Quanser SRV-02 motor servo for the presence of an accidental sliding mode. The SRV-02 is used by undergraduate students to learn basic concepts in controls engineering and will display unexpected sliding mode behavior when its in the “out of box” configuration. To gain a strong background understanding in characteristics of sliding mode, a review of literature on sliding-mode control and sliding mode behavior is completed. Next, a theoretical analysis of the SRV-02 motor servo during the sliding mode is developed. An effort is made to find a Lyapunov function that proves system stability. A novel method to detect a sliding mode in empirical data is proposed. Finally, additional empirical data of the system response are collected over several trials and analyzed.