2-DOF control solutions for an electric drive system under continuously variable conditions

The paper deals with control solutions for an electric drive system where the reference and the load disturbance are continuously variable and the plant has variable parameters. The main variable parameter of the process is the moment of inertia in the context of a system that corresponds to laboratory equipment. Using a detailed mathematical model of the process and the particular features of the drive system, the paper proposes variable control structures with switching between three or more control algorithms. This solution is preferred instead of a continuously parameter adaptation due to its simplicity in adaptation to the representative operating points. The control design results are focused on development of two-degree-of-freedom PID control solutions. The control solutions are applied in case studies based on digital simulation but, considering fixed values of the process parameters, they can be easily verified on laboratory equipment [1]. The proposed control solutions have a large applicability in the field of mechatronics systems, where such applications with variable moment of inertia and control system inputs are always present.