Control of a separately excited DC motor using on-line linearization

In this paper a method for controlling a separately excited DC motor by simultaneously actuating both the armature and field voltages is developed. This technique utilizes online calculation to effectively remove the bilinear terms from the motor characteristics and permit control using linear compensation. The developed control scheme is verified on a servomotor. This controller provides a suitable starting point for the development of an energy optimizing or a fault-tolerant motor control system.