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Nguyen, Anh-Huy
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Real-Time Trajectory Tracking Control of a DC Motor Using a Self-Tuning Regulator with Online Parameter Estimation Nguyen, Quang-Thien; Le, Hoang-Linh; Nguyen, Anh-Huy; Nguyen, Duc-Anh-Quan; Nguyen, Van-Dong-Hai; Nguyen, Minh-Tam; Nguyen, Van-Hiep; Nguyen, Thanh-Binh; Nguyen, Phuong-Quang; Le, Thi-Hong-Lam; Nguyen, Binh-Hau; Vu, Dinh-Minh
Control Systems and Optimization Letters Vol 4, No 1 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v4i1.270

Abstract

An adaptive Self-Tuning Regulator (STR) is developed for DC motor control to address performance degradation caused by load disturbances and parameter uncertainties. The method combines online system identification using recursive least squares (RLS) with automatic controller retuning in discrete time. The motor dynamics are continuously estimated and used to update the controller parameters through a pole-placement (or minimum-variance) design, thereby maintaining the desired closed-loop response without manual gain adjustment. The STR is implemented in real time and tested under speed reference changes and varying load torque. Results confirm that the proposed approach enhances tracking performance and disturbance rejection compared with conventional fixed-gain control, making it suitable for practical DC drive systems operating under changing conditions.
Co-Authors Le, Hoang-Linh Le, Thi-Hong-Lam Nguyen, Binh-Hau Nguyen, Duc-Anh-Quan Nguyen, Minh-Tam Nguyen, Phuong-Quang Nguyen, Quang-Thien Nguyen, Thanh-Binh Nguyen, Van-Dong-Hai Nguyen, Van-Hiep Vu, Dinh-Minh