Experimental Implementation of a Deterministic Controller for a D.C. Motor With Uncertain Dynamics

Abstract

The control of d.c. motors is often complicated by the fact that the dynamics of the system to be controlled are unknown. In this paper a deterministic controller is employed to control a d.c. motor which experiences a varying inertia load, Coriolis forces and unknown friction disturbances. All of the uncertainties in the system are assumed to be bounded. A hybrid controller, using a continuous velocity loop and a digital position loop, is developed. Experimental results verify the controller efficacy in dealing with bounded deterministic uncertainties.