Adaptive Control of a Shunt DC Motor with Persistent Excitation

Authors:	Huang Jeng Tze, Vanung University of Technology, Taiwan Chou Yen Huei, Vanung University of Technology, Taiwan
Topic:	1.2 Adaptive and Learning Systems
Session:	Applications of Adaptive and Learning Control
Keywords:	shunt DC motor; adaptive control; feedback linearization; persistent excitation.

Abstract

The adaptive input-output linearizing control has been successful in achieving the asymptotic output tracking stability for a shunt DC motor, however, persistent excitation (PE) of the regressor has not been investigated. The major difficulty is the ultimate behaviors of the estimated parameters and the field current are not predictable. Nevertheless, it is found that PE can be attained under some mild assumptions on the system and the reference trajectories. Simulation results confirming the assertion are given in the final.