Research Article
Controller Design for a Second-Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor
Table 1
Simulation and experimentation parameters.
| Parameter | Value |
| : input voltage | 40 V | : internal resistance of the source and MOSFET | 0.84 | : diode forward voltage | 1.1 V | : inductance | 2.473 mH | : internal resistance of the inductor | 1.695 | : capacitance | 46.27 F | : armature resistance | 2.7289 | : armature inductance | 1.17 mH | : viscous friction coefficient | 0.000138 N·m/rad/s | : moment of inertia | 0.000115 kg·m2 | : motor torque constant | 0.0663 N·m/A | : voltage constant | 0.0663 V/rad/s | : friction torque | 0.0284 N·m | : load torque | variable N·m | : reference speed | 200 and 300 rad/s | : switching frequency | 4 kHz | : sampling frequency | 4 kHz |
1 : unit time delay | 250 s | : motor speed | 28 bits resolution | : motor current | 12 bits resolution | : duty cycle | 10 bits resolution | Zero-order hold: fixed step discrete time | 250 s | : unity matrix of dimension 3 | | : unity matrix of dimension 7 | | : updating gain | | : updating gain | | : user-defined constant | 5 | and : user-defined gains | 1 | and : user-defined gains | 2.5 | : initial control action defined by the user | 30 V |
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