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1、IEEEAFRICON200923-25September2009,Nairobi,KenyaDCMotorControlviaHighOrderDifferentialFeedbackControlS.A.Nyabundi,G.Qi,Y.Hamam,J.MundaTshwaneUniversityofTechnology,PrivateBagX680,PRETORIA0001,SouthAfrica.solonyabs@yahoo.com,qig@tut.ac.za,hamama@tut.ac.za,mundajl@tut.ac.zaA
2、bstract—Inpractice,therearemanymotorsystemswhoserelativelysmallerascomparedtotheknownnormalmodels.modelsareusuallyunknownorpartiallyunknown.However,theHowever,therealwaysexistcaseswherethemodelofthemajorityofcontrolschemesfocusonmodel-dependentmotorsystemiscompletelyunkno
3、wnoronlypartiallyknowntechniques.Tocopeupwithunavailabledynamics,amodel-freeorsometimes,wecanonlyobtainsomemeasuredvariablesofcontrollingproblemforaDCmotorsystemisinvestigatedinthisthesysteminexperimentsorbynature.study.Arobusthigher-orderdifferentialfeedbackcontroller(HO
4、DFC),whichdoesnotdependonthemodelofthecontrolledAlso,manyresearchesonneuralnetworks[7]andfuzzyDCmotorsystem,isapplied.Thecontrolleronlyutilizestheinformationofthemeasuredoutputandthegivenobjectiveasneuralnetworks[8]techniqueshavebeenperformedtowellastheextracteddifferenti
5、alsofthoseviahigher-orderprovidemodel-freelearningcontrollersformotorsystems,differentiator(HOD).SimulationresultsshowthatHODFChowever,thesesystemsstillcontainbias.Moreover,thesuccessfullycontrolstheuncertainDCmotorsystem,andcandynamiccharacteristicofthesystemitselfisalso
6、time-varyingdriveitstrajectoriestodesiredsteadystatessubjecttounknowninsomecircumstance.Furthermore,withFuzzycontrol,theboundeddisturbance.Stability,convergenceandrobustnessoftuningoffuzzyrulesandmembershipfunctionstoachieveanPID,FuzzyandHODFCcontrolschemesfortheclosed-lo
7、opoptimalperformanceisnoteasy.systembehaviorarecompared.Fromtheperformancecomparisons,therobustHODFCcontrolsystemyieldsfavorableTheclassicalandconventionalproportional–integral–controlperformancesuperiortothatofPIDandFuzzycontrolsystems.Moreover,itnotonlyhasalearningabili
8、tysimilartoderivative(PID)controllercontinuestobethekeycomponentthatofFuzzycontrolbutalsoasimple
