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Load Torque Estimation and Passivity-Based Control of a Boost-Converter/DC-Motor Combination

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3 Author(s)
Linares-Flores, J. ; Post-Grad. Div., Univ. Tecnol. de la Mixteca, Huajuapan de León, Mexico ; Reger, J. ; Sira-Ramírez, H.

An algebraic approach is presented for the fast feed-forward adaptation of the angular velocity trajectory tracking task in a Boost-converter driven dc-motor system. For the adaptation, the load torque perturbations are assumed piecewise constant and are, nonasymptotically, online estimated using the available noisy measurements of the state variables. The controller is a linear controller based on the exact tracking error dynamics passive output feedback (ETEDPOF) controller design methodology including suitable adaptive feed-forward precompensation depending explicitly on the precisely estimated torque. The performance of the adaptation, which is achieved by means of the algebraic online-estimation of the current unknown load torque, is successfully validated in an experimental laboratory setup.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:18 ,  Issue: 6 )