Real-Time Trajectory Tracking Control of a DC Motor Using a Self-Tuning Regulator with Online Parameter Estimation

Quang-Thien Nguyen (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Hoang-Linh Le (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Anh-Huy Nguyen (Ho Chi Minh City University of Technology (HCMUT))
Duc-Anh-Quan Nguyen (Ho Chi Minh City University of Technology (HCMUT))
Van-Dong-Hai Nguyen (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Minh-Tam Nguyen (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Van-Hiep Nguyen (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Thanh-Binh Nguyen (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Phuong-Quang Nguyen (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Thi-Hong-Lam Le (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))
Binh-Hau Nguyen (Posts and Telecommunications Institute of Technology (PTIT))
Dinh-Minh Vu (Ho Chi Minh City University of Technology and Engineering (HCM-UTE))

Control Systems and Optimization Letters
Vol 4, No 1 (2026)

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.