Robust proportional-type position tracking controller for DC motor with disturbance observers

Abstract

This study proposes a proportional-type position controller for the DC motor with the performance recovery property. The proposed method has two merits. First, the disturbance observers are designed so as to make up for the model-plant mismatches. Second, based on the classical cascade structure, a proportional-type position controller is developed via the feedback linearizing technique with the guarantees of the performance recovery and offset-free properties. The efficacy of the proposed method is evaluated by the simulations using the Simscape toolbox and level-2 S-function in MATLAB/Simulink.