DC Motor speed control using Experience Mapping based Prediction Controller (EMPC)

Experience Mapping based Prediction Controller (EMPC) is a recently proposed controller for DC motor based position control, whose design is inspired from human motor control. As it is developed for a Type-1 system, the algorithms developed there, cannot be directly used for Type-0 systems. This paper presents the modified EMPC for Type-0 systems and the principle is applied to a DC motor speed control system. EMPC uses past experience for generating the control action in each scenario and it works in quasi-open-loop unlike conventional control systems which work in tight close loop. The paper presents the details of development of EMPC algorithm and simulations to show its performance on a DC motor based speed controller. The performance of EMPC is compared with that of a conventional PID controller for different scenarios. The speed control of DC motor using EMPC is practically implemented and the experimental results are presented.