Constrained natural tracking control algorithms for bilinear DC shunt wound motors

Natural tracking control algorithms are discovered and compared for bilinear, shunt wound, direct current electric motors. Natural tracking controllers can be applied to shunt wound DC motors because they can possess the plant natural trackability property. Natural trackability assures the existence of a natural tracking controller which forces the system to exhibit elementwise exponential tracking of time varying desired outputs by needing a minimum amount of information about the dynamics of the plant to be controlled, yet without needing information about its internal dynamics and the disturbances. Bilinear, shunt wound motors can physically experience the loss in control if the field current is forced through zero due to commands or external disturbances. Different natural tracking control algorithms are simulated under conditions which force the motor's field current through zero; the motor response follows the theory for a loss of natural trackability.