The objective of this paper is to design an adaptive tracking controller for a DC motor. The adaptation gains of the controller are adapted based on the MIT rule. A desired sine wave is used as a reference trajectory. The DC motor traces the reference trajectory continuously. The voltage amplitude of a sine wave is corresponding to the angular position of the DC motor shaft. In order to investigate the tracking performance of this controller, one suitable performance index is introduced for the evaluation. The effect of the reference model is also studied.
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