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

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

Nguyen, Quang-Thien (Unknown)
Le, Hoang-Linh (Unknown)
Nguyen, Anh-Huy (Unknown)
Nguyen, Duc-Anh-Quan (Unknown)
Nguyen, Van-Dong-Hai (Unknown)
Nguyen, Minh-Tam (Unknown)
Nguyen, Van-Hiep (Unknown)
Nguyen, Thanh-Binh (Unknown)
Nguyen, Phuong-Quang (Unknown)
Le, Thi-Hong-Lam (Unknown)
Nguyen, Binh-Hau (Unknown)
Vu, Dinh-Minh (Unknown)

Article Info

Publish Date
18 Mar 2026

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.

Copyrights © 2026




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Journal Info
Control Systems and Optimization Letters
Website

Abbrev

csol

Publisher

Peneliti Teknologi Teknik Indonesia

Subject

Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

Description

Control Systems and Optimization Letters is an open-access journal offering authors the opportunity to publish in all fundamental and interdisciplinary areas of control and optimization, rapidly enabling a safe and sustainable interconnected human society. Control Systems and Optimization Letters ...