A Nonlinear Model Reference Adaptive Control for a Universal Motor using Backstepping Approach

Abstract

Our aim is to design a nonlinear controller for the given Universal motor. In order to attain high performance speed tracking, the adaptive backstepping control technique is applied. A linear reference model is designed to achieve the speed tracking of the motor. To regulate the dynamics of the motor, the proposed controller is designed to track the linear reference model. Considering the parameter uncertainties, adaptive control method is used. The effectiveness of the controller is verified using the simulation results. The simulation results show that the motor speed response is highly robust despite the uncertainties and load torque variation and the motor also successfully tracks the specified reference model.