Experimental validation for real time control of DC motor using novel finite-horizon optimal technique

Abstract

DC motors are widely used in industrial applications. Controlling of DC motor is a great challenge for control engineers. Precise equations describing DC motors are nonlinear. Accurate nonlinear control of the motion of the DC motors is required. In this paper, a novel online technique for finite-horizon nonlinear tracking problems is presented. The idea of the proposed technique is the change of variables, that converts the nonlinear differential Riccati equation to a linear Lyapunov differential equation. The proposed technique is effective for a wide range of operating points. Simulation results and experimental implementation of a DC motor are given to illustrate the effectiveness of the proposed technique.