Controller Design for a Second-Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor

Figure 6

Simulated and experimental results when the load torque 𝑇_𝐿+𝑇_fric changes from 0.1639 N·m to 0.101 N·m at 𝑡=1s. (a), (c), (e) simulated results. (b), (d), (f) experimental results.

(a)

(b)

(c)

(d)

(e)

(f)