Adaptive Tracking PID and FOPID Speed Control of an Elastically Attached Load Driven by a DC Motor at Almost Step Disturbance of Loading Torque and Parametric Excitation

Adaptive tracking control of the speed a very elastically attached circular load driven by direct current motor accompanied with an adaptive conventional and fractional-order Proportional Integral Derivative (PID) controller is studied. It refers to improving closed-loop system response coupled components drivelines. The mechatronic models block diagrams are constructed. Parameters PID in model reference both constant, as well vary time. method improved application new structure canceling error dynamics. A few competing strategies tested based on two types low high frequency stepwise increasing variations loading torque damping coefficient motion. Moreover, performance verified Time-Weighted Absolute Error (ITAE) index, since their robustness evaluated applying sine modulated triangle waves selected electric parameters. Therefore, dynamic forcing parameter uncertainty applied. Simulation results compared for checking proposed methods.