PID tracking control design for electrical DC motors with experimental validation H 2 norm
Muhammad Shamrooz Aslam, Summera Shamrooz, Hazrat Bilal, Asim Aziz · Journal of Control and Decision · 2024
Tracking control for electrical DC motors refers to the use of control systems to ensure that the motor's output, in terms of speed and position, accurately follows a desired trajectory or command over time. The present paper studies the H2 tracking control problem of a class of nonlinear systems modelled by DC nonlinear models. In contrast to other approaches in the literature, firstly, this paper considers the H2 performance constraints in a unified way to solve the tracking control problem for the speed of DC nonlinear models and motor position. Secondly, it provides an inequality covering the well–known H2 rational matrix, which is a recently proposed state–space representation of H2. Thirdly, the authors also studied the performance of an error system based on the Lyapunov–Krasovskii functional used in this paper, for stability. The control parameters are obtained through the solution of each of the presented LMIs. At the end of this paper, it is also demonstrated that nonlinear controllers with other schemas like PID controller are suitable for almost all simulated and practical applications.