Output Feedback Regulation of a Brushed DC Motor: An IDA-PBC Approach

Abstract

In this work, we consider the application of the interconnection and damping assignment (IDA) control design method to the asymptotic output feedback position regulation problem of a brushed DC motor driving a mechanical load. The applied approach is based on the asymptotic reconstruction of a stabilizing IDA control law through the design of a dynamic output feedback regulating control. Asymptotic stability of the mechanical position is verified by digital simulations