Series Connected DC Motor Tracking Using Port Controlled Hamiltonian Systems Equivalence

Series connected DC motor is a common nonlinear device mostly used in rated values since its nonlinear modeling makes difficult the efficient velocity control. Local and approximate controllers have been previously applied. In this paper a global nonlinear controller is proposed based on port controlled Hamiltonian systems equivalence, i.e. a suitably defined feedback controller results the overall system to a port controlled Hamiltonian system. The relatively simple structure controller adds some extra free parameters. Appropriate tuning of these parameters shape the closed loop performance and undesirable oscillations and overshoots are avoided. The proposed controller can successfully track any desired reference path of angular velocity. Simulation studies demonstrate the effectiveness of the approach.