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Adaptive Backstepping Controller Design for a Separately Excited DC Motor Using Speed Observer  

Hyun Keun-Ho (신성대학 전기과)
Yang Hai-Won (한양대학교 전자 컴퓨터 공학부)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.7, 2003 , pp. 385-392 More about this Journal
Abstract
A nonlinear speed controller for a separately excited DC motor (SEDCM) based on a newly developed adaptive backstepping approach is presented. To compensate parameter uncertainties and load torque disturbance, a nonlinear adaptive backstepping control law and adaptive law are derived systematically step by step through virtual control input and suitable Lyapunov function. Also, speed observer without using costly speed sensor is presented. Simulation results show that the proposed controller can observe real speed and track the reference speed signal generated by a reference model.
Keywords
SEDCM; adaptive backstepping; speed observer; Lyapunov function; parameter uncertainties;
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