Rapid tracking of short complex trajectories by a DC motor

Rapid tracking is accomplished by injecting a supplemental control signal to the input of a feedback stabilized plant. The supplemental control is obtained through learning from the previous trial errors and the desired trajectory. Such controlled system is capable of tracking closely very complex short reference trajectories. The potential performance is limited only by the physical limitations of the system hardware. This paper presents experimental results of the applications of the rapid tracking control methodology to a DC motor to track very complex short-duration velocity and position trajectories