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Nonlinear Robust Control Of A Series Dc Motor Utilizing The Recursive Design Approach, Michael J. Burridge

Retrospective Theses and Dissertations

In this thesis, the investigation of asymptotic stability of the series DC motor with unknown load-torque and unknown armature inductance is considered. The control technique of recursive, or backstepping, design is employed. Three cases are considered. In the first case, the system is assumed to be perfectly known. In the second case, the load torque is assumed to be unknown and a proportional-integral controller is developed to compensate for this unknown quantity. In the final case, it is assumed that two system parameters, load torque and armature inductance, are not known exactly, but vary from expected nominal values within a …