M.S. Ibbini∗
Feedback linearization, parameters estimation, nonlinear control, DC-machines control
The design of a controller for any system is usually accomplished based on the nominal operating conditions. In particular, system parameters adopted for the controller design are those of nominal values, which are assumed to be constant for all practical purposes. However, nominal system parameters might vary and have different values due to aging of components, computer truncation, and en- vironmental changes such as temperature. In this article, feedback linearization technique is used to design state controllers for widely used DC-machines such as series, shunt, and separately connected DC motors. An online parameters estimation technique is incorpo- rated in the controller design to eliminate the effect of parameter changes on the performance of the designed systems. Computer simulations demonstrate the effectiveness of the online parameters estimation technique, especially when parameters variations are considered
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