Adaptive Parameter Estimation and Speed Control of DC Motors with Microcomputer Implementation

This paper proposes a speed control scheme with adaptively estimated system parameters. The adaptive controller consists of a friction compensator and a PID controller, whose gains are adjusted on-line in terms of estimated parameters. The control law is implemented and tested on a microprocessor-based dc servo motor. Various experimental results are shown to be superior to those of conventional PID controls, and are applicable to many precision servo mechanisms.