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Discrete‐time simplified adaptive control of a dc motor based on asymptotic output tracker theory
Author(s) -
Sun Yu,
Shibata Hiroshi,
Maruoka Genmon
Publication year - 2001
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/1520-6416(20010415)135:1<33::aid-eej5>3.0.co;2-q
Subject(s) - control theory (sociology) , feed forward , bounded function , discretization , computer science , position (finance) , adaptive control , pid controller , tracking error , discrete time and continuous time , algorithm , control (management) , mathematics , control engineering , engineering , temperature control , artificial intelligence , mathematical analysis , statistics , finance , economics
Simplified adaptive control (SAC) has simple structure and is readily implemented in real systems, but few real applications have as yet been reported. A discrete‐time algorithm for SAC has recently been proposed by one of the authors. Although it solves the problem of unavoidable time delay arising in the discretization of the continuous‐time algorithm, the algorithm generally produces a bounded output error between the controlled plant and the reference model due to a feedforward gain added in parallel to the controlled plant so as to satisfy the positive real (ASPR) property with almost complete rigor. This paper treats the applicability of the SAC algorithm to a real system, that is, the position control of a dc motor with variable load. The algorithm used here is modified, and the feedforward compensator is inserted in parallel not only to the controlled plant, but also to the reference model. The algorithm guarantees that the output error vanishes asymptotically. The control performance is examined by both simulation and testing of an actual system and is compared with that of a conventional PID control. These results illustrate satisfactory control performance and verify the applicability of the modified algorithm. © 2001 Scripta Technica, Electr Eng Jpn, 135(1): 33–42, 2001