Model Reference Adaptive PID Control of Servo Speed DC Motor

Robustrejection of severe load disturbance exerted on a DC servo drive using Adaptive PID (APID) control versus Model Reference Adaptive Control (MRAC) is discussed in this paper. Simulation results demonstrate the superior performance of the APID algorithm fulfilling the aim of this research compared to Lyapunov based model-referenced adaptive control (LMRAC) method. The achievements of this study show that the APID method is able to fully eliminate the severe load disturbance exerted to the motor demanding feasible amount of control energy. This remarkable privilege proposes it as an effective control strategy in precise servo drive speed or position control applications of the DC motors while imposed to harsh load disturbances especially when the saturation of the power supply or its ability to rapidly provide the high demanded control energy is a matter of concern.