PWM speed control of DC motor based on singular perturbation technique

The problem of regulation for a DC motor with autonomous voltage inverter is discussed. The considered control system consists of two feedback loops. In the first one, the armature current control for a DC motor is provided by means of pulse-width modulated control of such autonomous voltage inverter as the H-bridge. In the second one, DC motor speed control is maintained. Proportional-integral (PI) controllers are designed for armature current and motor speed control based on singular perturbation technique such that multi-time-scale motions are artificially induced in the closed-loop system. Multi-time-scale motions analysis allows getting analytical expressions for selection of controller parameters. Simulation results are presented as well.