| Title |
Design of Robust Adaptive Backstepping Controller for Speed Control of Separately Excited DC Motor |
| Authors |
현근호(Hyun, Keun-Ho) ; 손인환(Son, In-Hwan) |
| Keywords |
Separately Excited DC Motor ; Speed Control ; Adaptive Backstepping ; Uncertainties, Disturbances |
| Abstract |
In this paper, an robust adaptive backstepping controller is proposed for the speed control of separately excited DC motor with uncertainties and disturbances. Armature and field resistance, damping coefficient and load torque are considered as uncertainties and noise generated at applying load torque to motor is also considered. It shows that the backstepping algorithm can be used to solve the problems of nonlinear system very well and robust controller can be designed without the variation of adaptive law. Simulation and experiment results are provided to demonstrate the effectiveness of the proposed controller. |