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Backstepping Control of DC Electrical Machines

BROWSE_DETAIL_CREATION_DATE: 24-02-2017

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BROWSE_DETAIL_TYPE: Thesis

BROWSE_DETAIL_SUB_TYPE: Masters

BROWSE_DETAIL_PUBLISH_STATE: Unpublished

BROWSE_DETAIL_FORMAT: PDF Document

BROWSE_DETAIL_LANG: English

BROWSE_DETAIL_SUBJECTS: TECHNOLOGY,

BROWSE_DETAIL_CREATORS: Zuglem, Ahmad T. Almabrouk (Author),

BROWSE_DETAIL_CONTRIBUTERS: Doruk, Reşat Özgür (Advisor),

BROWSE_DETAIL_TAB_KEYWORDS

backstepping control, DC motor, lyapunov stability, linear system, disturbance torque, Input-to-state stability.


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This thesis reviews a linear backstepping design scheme for the control of DC motor system to achieve the desired position and speed tracking control objective. This technique is based on the use of the linear system in the DC motor model and finding a direct relationship between the motor output and input quantities without affecting the speed regulation. The proposed control scheme is not only to stabilize the DC motor, but also to drive the speed tracking error and the position error are able to converge to zero asymptotically according to Lyapunov stability theorem.The backstepping control approach is applied to the control of direct current electric motors. The approach is based on the extension of the Lyapunov’s second method which is applied to each state separately by interconnecting them by introducing virtual control inputs to each state equation. The stability of the closed loop is ensured by tuning the final Lyapunov equations appropriately.The disturbance torques might become a critical issue in this case and the issue is handled by doing a theoretical analysis based on input-to-state stability theory and numerical simulations with disturbance torques as random signals.


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