AMFC of the DC motor speed

The paper presents the mathematical background for the simulation of the adaptive model following control (AMFC) of the speed of the permanent magnet DC motor. The chosen reference model is of the first order, whereas the speed control system is of the fourth order. As these orders are different, it is not possible to use the theory of AMFC systems without further investigation. The paper presents simulation results which take into account the unmodeled dynamics of the speed control system. The results obtained confirm superiority of the AMFC system over the nonadaptive system of speed control.