Multi-objective parameter space approach based controller and add-on disturbance observer design

作者：Emirler Mumin Tolga^*; Guvenc Bilin Aksun

来源：Journal of Mechanical Science and Technology, 2017, 31(9): 4447-4458.

DOI：10.1007/s12206-017-0845-2

• DC motor speed control
• Disturbance observer
• Mixed sensitivity requirements
• Parameter space approach
• Robust control

The parameter space approach based robust PI control design methodology for DC motor speed control is proposed in this paper. The multi-objective design requirements like D-stability, phase margin and mixed sensitivity ( frequency domain) bounds are mapped into the controller parameter space to determine PI controller coefficients which satisfies the desired user-defined specifications. Besides robust PI controller, an add-on disturbance observer is utilized to enhance the tracking performance and disturbance rejection of the control system. The proposed control scheme is validated by simulations and experiments. The results prove that the effectiveness of the proposed control system against uncertainties in the modeling and disturbances on the system response.

• 出版日期2017-9