Partial adaptive control of PMDC motor in the tracking system under the variation of moment of inertia

추적 시스템에 있어서 관성 모멘트 변화를 고려한 PMDC 모터의 부분 적응 제어

In this paper, the control law for the system that has the variation of moment of inertia is designed. The proposed method is that the control input is obtained by using optimal PI control and partial adaptive control. The partial adaptive control input is adjusted by estimating the variational quantity of moment of inertia. This result gives us significant improvement of tracking ability.