Robust Indirect Adaptive Control Using RLS for DC Motor
Keywords:
DC motor, time varying, indirect adaptive control, robust control, RLSAbstract
Recently, the DC motor has been widely used in industry even though its maintenance costs are higher than the induction motor. Sometimes the conventional feedback control cannot work well to cope with the changes that vary in its dynamic system. The parameters of the dynamic system that changes with time lead to a conventional feedback control system is not able to maintain control. This is caused by circumstances which are nonlinear and receive many disturbance so that the transient response of the system to be less precise and accurate to the desired steady state conditions. To overcome these problems, this paper presents an indirect adaptive control system which can cope with the change of the dynamic DC motor system. The adaptive control scheme comprises a recursive least square (RLS) parameter identification and robust control method. A robustifying control term is added to accommodate the approximation errors and disturbance. This makes the algorithm robust to changes in the plant. Simulation results prove the effectiveness of the controller.
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