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

Figure 1

System response for example under command input 𝑑(𝑡)=5sin(𝑡), 𝑇_𝑓=0, 𝑇_𝑤=0, 𝑤_𝜔=0, and 𝑇_̌‌𝑤=0. (a) Tracking error; (b) control input; (c) parameter estimate; (d) state-estimation error 𝑥^̌‌₁−𝑥₁; (e) state-estimation error 𝑥^̌‌₂−𝑥₂; (f) cost function ∫^𝑡₀((𝑥₁−𝑦_𝑑)²−𝛾²|𝑤|²−𝛾²|𝑤^̌‌|²d)𝜏.

(a)

(b)

(c)

(d)

(e)

(f)