Nonlinear control of a series DC motor: theory and experiment

Abstract

The control problem for a series DC motor is considered. The control approach is model based using a nonlinear mathematical model of a series connected DC motor. It is shown that by a combination of a nonlinear transformation and state feedback (feedback linearization) the nonlinear control design is reduced to designing a linear control law. An experimental study of this controller is presented and compared with a simulation of the closed-loop system.