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

Figure 2

System response for example under command input 𝑑(𝑡)=5sin(𝑡), 𝑇_𝑓=−0.01×sgn(𝜔), and 𝑇_𝑤=0.04sin(𝑡), 𝑤_𝜔 = white noise signal with power 0.01 sample 𝑑 at 1 HZ, 𝑇_̌‌𝑤=0.05sin(4𝑡). (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)