Adaptive speed control for separately excited DC motor based on exact linearization method

Based on the mathematical model of separately excited DC motor,the influence of output functions to nonlinear controller is studied.Exact linear theory and the pole assignment method are used to design state feedback linearization speed controller and input-output feedback speed linearization controller by selecting different output functions.The theoretical analysis found that the input-output linearization controller is globally stable.Due to the presence of singular points,state feedback linearization controller is not a global controller.The simulation results show that input-output feedback linearization controller has a more simple structure,better stable operation and dynamic performance compared to state feedback linearization controller.On the basis of input-output linearization controller,the input-output feedback linearization adaptive controller is designed.The simulation results show that the adaptive controller has a stronger anti-interference capability compared to input-output feedback linearization controller.