Open- and closed-loop algebraic identification method for adaptive control of DC motors

摘要

In this article an adaptive position control scheme for a DC motor based on an on-line closed-loop continuous-time identification method is proposed. A fast, non-asymptotic, algebraic identification method is used to estimate the unknown system parameters and to update the controller. The method is suitable for simultaneously identifying both the viscous friction coefficient and the inertia of the motor. The adaptive controller and the identification algorithm have been verified by simulation and experiments.