Application of adaptive dual controllers to a DC-motor

A new dual pole-placement controller (APPC), and a dual linear quadratic Gaussian (LQG) controller with indirect adaptation are designed and applied to the speed control of a thyristor-driven DC motor. The suggested synthesis approach is based on bicriterial optimisation of two cost functions introduced to give the adaptive properties of caution and allow them to stimulate the parameter estimation. The controllers derived are computationally simple. The derived LQG controller is obtained using spectral factorisation and pole positioning, which corresponds to the optimum cost function of the LQG controller. The designed controllers are applied to the speed control of a thyristor-driven DC-motor. The described experimental application demonstrates the superiority of the designed controllers over the standard APPC and the LQG controller based on the certainty equivalence approach