| Title |
Robust Speed Control of DC Motor Using PID - Supervision Hybrid Controller |
| Abstract |
Robust control for DC motor is needed according to the highest precision of industrial automation. However, when a motor control system with PD controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. In this paper, PID-supervision hybrid control method for motor control system as a compensation method solving this problem is presented. If the PID control system (without the supervisory controller) is stable in the sense that the error is inside the constraint set, the supervisory control is idle. If the error hits the boundary of the constraint, the supervisory controller begins operation to force the error back to the constraint set. We prove that the PID-supervision hybrid control system is globally stable in the sense that the error is guaranteed to be within the tolerance limits specified by the system designer. |