ℌ∞-suboptimal tracking control with integral action and load estimation applied on a Boost-converter/DC-motor combination

In this contribution, a ℌ∞-controller is devised for the tracking of a reference trajectory in a SISO-system. To this end, a ℌ∞ suboptimal set-point control concept for bilinear systems is adapted and generalized for tracking purposes resorting to the overall error dynamics of the respective timevarying system. The presented controller incorporates integral action on the angular shaft velocity and iISS (integral Input-to- State Stability) is guaranteed for the closed-loop system subject to non-zero disturbances. The integrator is to compensate for measurement noise, to compensate for load torque changes we introduce a load estimation scheme. Also iISS is shown for the closed-loop system under disturbances when completed with integrator and estimator. The approach is applied to a Boostconverter driven DC-motor, where the angular shaft velocity is the output to be tracked.