Design and simulation of li-adaptive controller for position control of dc servomotor

Abstract EN

This paper presents £/-adaptive controller for controlling uncertain parameta-s and time-varying unknown parameters to control the position of a DC servomocor.

For the purpose of comparison, the effectiveness of X,-adaptive controller for position control of studied servomotor has been examined and compared with another adaptive controller: Model Reference Adaptive Controller (MRAC).

Robustness of both £/-adaptive controller and model reference adaptive controller to different input reference signals and different structures of uncertainty were studied.

Three different t>pes of input signals are taken mto account: ramp, step and sinusoidal.

The L/-adaptive controller ensured uniformly bounded transient and asymptotic tracking for both system's input and output signals, simultaneously with asymptotic tracking Simulations of a DC servomotor with time-varying friction and disturbance are presented to verify the theoretical findings