Digital signal processor (DSP)-based robust speed regulation and tracking control for DC servomotor

Abstract

An improved sliding-mode control scheme that consists of continuous adaptive gain feedback and feedforward controls with an equivalent external disturbance observer is developed to achieve accurate (robust) and fast speed control for a DC servomotor powered by a pulsewidth-modulated transistor converter. The proposed control scheme is implemented by a fast digital signal processor. It is confirmed by experiments that the speed trajectories track the desired trajectory accurately.<>