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In speed control of a permanent-magnet dc torque motor, cogging torque is an undesirable disturbance and results in speed ripple. It is especially prominent at lower speeds, with the symptom of jerkiness. This paper provides a novel observer-based nonlinear triple-step controller to improve the low-speed tracking performance. Considering that cogging torque is a fast time-varying disturbance and changes...
To achieve high performance in the control of electrical drives, more and more attention was paid to the uncertainty and disturbance rejection. The paper is focused on the speed control of permanent-magnet DC (PMDC) motor subjected to uncertainties and disturbances. The uncertainties and disturbances in the nonlinear system are lumped together as a total disturbance. A new control input is introduced...
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