TRACKING CONTROL OF THE ANGULAR VELOCITY OF A DC-MOTOR VIA A BOOST-CONVERTER

Abstract In this contribution the tracking controller design for the shaft angular velocity of a dc motor which is attached to a boost type power converter using linear dynamic output feedback is demonstrated. This is a fairly challenging task due to the fact that the system under consideration is not flat and the angular velocity is a non-minimum phase output. The controller design is based on a differential operator representation of the linearized tracking error dynamics (see (Deutscher, 2002; Antritter et al., 2004; Antritter and Deutscher, 2006)). This approach yields a linear dynamic output feedback of very low order for the stabilization of the reference trajectory. The experimental results approve the favorable properties of the designed controller.

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