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Repetitive control was applied to DC motor speed regulation in a scan device to reject the motor cogging torque. A discrete time prototype repetitive controller was designed and integrated into an existing feedback loop using the plug-in concept to reject the approximately periodic cogging torque under a constant reference speed. System identification was conducted to obtain the linear plant model...
A disturbance estimator was designed and integrated into an existing proportional and integral controller DC motor speed control system to improve the speed regulation. The DC motor in the existing control system possessed a large amount of cogging torque, causing a periodic speed error. This cogging torque was treated as an equivalent input disturbance which then was estimated using a disturbance...
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