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Mathematical Problems in Engineering
Volume 2013, Article ID 698050, 15 pages
Research Article

Adaptive Speed Control Design for Brushed Permanent Magnet DC Motor Based on Worst-Case Analysis Approach

Research and Development Department of Critical Care Engineering, CareFusion, Yorba Linda, CA 92886, USA

Received 30 April 2012; Revised 23 July 2012; Accepted 23 August 2012

Academic Editor: Pedro Ribeiro

Copyright © 2013 Sheng Zeng. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents the adaptive controller design for brushed permanent magnet DC motor used in velocity-tracking applications based on worst-case approach. We first formulate the robust adaptive control problem as a nonlinear -control problem under imperfect state measurement, and then solve it using game-theoretic approach. The controller guarantees the boundedness of closed-loop signals with bounded exogenous disturbances, and achieves desired disturbance attenuation level with respect to the unmeasured exogenous disturbance inputs and the measured disturbance inputs. The strong robustness properties are illustrated by a simulation example.