Synchronization control of DC motors through adaptive disturbance cancellation techniques

We address the master-slave synchronization control problem for a current-fed DC motor with uncertain parameters: an exogenous rotor position reference signal, which belongs to the class of biased sinusoidal signals with uncertain bias, amplitude, frequency, phase, is to be tracked without assuming its foreknowledge. An innovative use of adaptive disturbance cancellation techniques allows to obtain an output feedback adaptive nonlinear control scheme which simply represents a generalization of the classical internal model- based input law. Analyses from both theoretical and experimental points of view illustrate the effectiveness of the proposed approach.