Optimal feedback control of direct-current motors

A methodology for real-time speed control of a thyristor-driven DC motor in the presence of measurement noise and load torque disturbance is developed. An optimal state feedback controller using the Kalman-filter state estimation technique is derived. This is followed by an adaptive control algorithm to compensate for the effects of noise and disturbance. These two algorithms working together are capable of providing a very high-speed regulation and dynamic response over a wide range of operating conditions. Simulated responses using an i80386-based PC with a mathematics coprocessor are presented to highlight the effectiveness of the control strategy.<
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