ADAPTIVE CONTROL OF A SHUNT DC MOTOR WITH PERSISTENT EXCITATION

摘要

The adaptive input-output linearizing control has been successful in achieving the asymptotic output tracking stability for a shunt DC motor, however, persistent excitation (PE) of the regressor has not been investigated. The major diculty is the ultimate behaviors of the estimated parameters and the field current are not predictable. Nevertheless, it is found that PE can be attained under some mild assumptions on the system and the reference trajectories. Simulation results confirming the assertion are given in the final.