title: DC servomechanism parameter identification: a Closed Loop Input Error approach.
abstract: This paper presents a Closed Loop Input Error (CLIE) approach for on-line parametric estimation of a continuous-time model of a DC servomechanism functioning in closed loop. A standard Proportional Derivative (PD) position controller stabilizes the loop without requiring knowledge on the servomechanism parameters. The analysis of the identification algorithm takes into account the control law employed for closing the loop. The model contains four parameters that depend on the servo inertia, viscous, and Coulomb friction as well as on a constant disturbance. Lyapunov stability theory permits assessing boundedness of the signals associated to the identification algorithm. Experiments on a laboratory prototype allows evaluating the performance of the approach.
authors.affiliation: Departamento de Control Automático, CINVESTAV-IPN, Av. IPN 2508 San Pedro Zacatenco, México, DF 07360, Mexico. garrido@ctrl.cinvestav.mx
authors.forename: Ruben
authors.initials: R
authors.lastname: Garrido
authors.forename: Roger
authors.initials: R
authors.lastname: Miranda
mesh_terms: D000465:Algorithms; D000669:Amplifiers, Electronic; D003198:Computer Simulation; D003201:Computers; D004581:Electronics; D007221:Industry / Q000295:instrumentation*; D016014:Linear Models; D017711:Nonlinear Dynamics; D015203:Reproducibility of Results