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

[+] Author and Article Information
R. Horowitz, H. I. Stephens, G. Leitmann

Department of Mechanical Engineering, University of California, Berkeley, Calif. 94720

J. Dyn. Sys., Meas., Control 111(2), 244-252 (Jun 01, 1989) (9 pages) doi:10.1115/1.3153043 History: Received September 01, 1986; Revised May 10, 1988; Online July 21, 2009


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.

Copyright © 1989 by ASME
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