Optimal Output Regulation of a Field-controlled DC Motor using an Extended High-Gain Observer

Résumé fourni par la source

The paper addresses the output regulation problem using an observer-based inverse optimal controller integrated with a servo-compensator to effectively mitigate time-varying disturbances originating from an exosystem. This particular scheme is formulated within the Lyapunov redesign framework which, in addition to providing improved transient performance and ideal steady-state regulation, incorporates the additional optimality and robustness properties of the state feedback controller used. The proposed output feedback controller is designed using a field-controlled DC motor as a test case. Under the assumption that only that motor speed is accessible for feedback, an extended high-gain observer approximates the internal and external dynamics of the DC motor. These estimated dynamics are utilized in the controller design and simulations are included to illustrate the efficacy of the presented scheme.

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