Controlling a DC Motor through Lypaunov-like Functions and SAB Technique

Alejandro Rincón, Fabiola Angulo, Fredy Hoyos

Abstract


In this paper, state adaptive backstepping and Lyapunov-like function methods are used to design a robust adaptive controller for a DC motor. The output to be controlled is the motor speed. It is assumed that the load torque and inertia moment exhibit unknown but bounded time-varying behavior, and that the measurement of the motor speed and motor current are corrupted by noise. The controller is implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform and experimental results agree with theory.


Keywords


Robust Adaptive Control; Lyapunov-like Function; Permanent Magnet DC Motor; Rapid control prototyping

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DOI: http://doi.org/10.11591/ijece.v8i4.pp2180-2198

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International Journal of Electrical and Computer Engineering (IJECE)
p-ISSN 2088-8708, e-ISSN 2722-2578

This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).