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

Alejandro Rincón (Universidad Católica de Manizales)
Fabiola Angulo (Campus La Nubia)
Fredy Hoyos (Universidad Nacional de Colombia)

International Journal of Electrical and Computer Engineering
Vol 8, No 4: August 2018

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.