Feedback Regulation of a DC Motor via Interconnection and Damping Assignment

Authors:	Rios-Bolivar Miguel, Universidad de Los Andes, Venezuela Morillo Atilio, Universidad del Zulia, Venezuela Acosta Vivian, Universidad de Los Andes, Venezuela
Topic:	2.3 Non-Linear Control Systems
Session:	Nonlinear Control Applications II
Keywords:	Non-linear Control, Electromechanical systems, Passivity-based control

Abstract

In this work, we consider the application of the Interconnectionand Damping Assignment (IDA) control methodology, recentlyproposed in the literature, to the asymptotic position regulationproblem of a brushed DC motor driving a mechanical load. Toachieve this objective the electromechanical system is firstlytransformed into the general port controlled Hamiltonian form and,then, the IDA design procedure is applied to synthesize thestabilizing control law. The Hamiltonian structure of the closedloop system is preserved and the asymptotic stability of themechanical position is verified by digital simulations.