Model Reference Adaptive Control for the Trajectory Tracking of a DC Motor with Pendular Load

Carlos Aguilar-Avelar and Javier Moreno-Valenzuela


Model Reference Adaptive Control, Trajectory Tracking, Real-time Control


A new design methodology for a model reference adaptive controller (MRAC) is presented, which is applied to a brushed direct current (DC) motor with pendular load, whose exact model is unknown. This controller is designed for the trajectory tracking control problem, and the respective convergence analysis is presented. In order to avoid singularities in the controller equations, projectors are used to delimit the region of possible values of the estimated parameters. A brief description of the experimental platform is given. The results of the real-time implementation are presented confirming the practical viability of the proposed control scheme.

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