Model-free and Adaptive Control of a DC Motor: A Comparative Study

Abstract

The present paper proposes the recent Model-free Control (MFC) approach applied to a position control scheme for a DC motor with uncertainties and unmodeled dynamics. This novel technique guarantees a fast algebraic online dynamics estimation for ultra-local model identification. It grants to keep out of complicated task of non-linear mathematical system modeling and leads to an explicit gain tuning. Comparisons are carried out between the proposed approach and the classical adaptive controller. Computer simulations have been verified using MATLAB/ Simulink.