DC motor

Model

Fig1. - DC motor Picture (left) and Schematics (right).

$$X = \begin{pmatrix} \theta \\ \dot{\theta} \\ i \end{pmatrix}$$ $$\frac{d}{dt}\begin{pmatrix} \theta \\ \dot{\theta} \\ i \end{pmatrix} = \begin{pmatrix} 1 & 0 & 0 \\ 0 & -\frac{B}{J} & \frac{K}{J} \\ 0 & -\frac{K}{L} & -\frac{R}{L} \end{pmatrix} \begin{pmatrix} \theta \\ \dot{\theta} \\ i \end{pmatrix} + \begin{pmatrix} 0 \\ 0 \\ \frac{1}{L} \end{pmatrix} \begin{pmatrix} v \end{pmatrix} + \begin{pmatrix} 0 \\ -\frac{1}{J} \\ 0 \end{pmatrix} \begin{pmatrix} T_l \end{pmatrix}$$

code

Bibliography

• (1) Adaptive Control of a DC Motor Using Neural Network Sliding Mode Control, M.Fallahi and S.Azadi,
• (2) Control Tutorial, University of Michigan