Experimental Verification of a Deterministic Controller for a D.C. Motor with Uncertain Dynamics

The control of d.c. motors is often complicated by the fact that the dynamics of the system to be controlled are unknown. In this paper a deterministic controller is emnployed to control a d.c. motor which experiences a varying inertia load, Coriolis forces and unknown friction disturbances. All of the uncertainties in the system are assumed to be bounded. A hybrid controller, using a continuous velocity loop and a digital position loop, is developed. Experimental results verify the controller effectiveness in dealing with bounded deterministic uncertainties.