title: Experimental studies on model reference adaptive control with integral action employing a rotary encoder and tachometer sensors.
abstract: In this paper, an adaptive law with an integral action is designed and implemented on a DC motor by employing a rotary encoder and tachometer sensors. The stability is proved by using the Lyapunov function. The tracking errors asymptotically converge to zero according to the Barbalat lemma. The tracking performance is specified by a reference model, the convergence rate of Lyapunov function is specified by the matrix Q and the control action and the state weighting are restricted by the matrix Γ. The experimental results demonstrate the effectiveness of the proposed control. The maximum errors of the position and velocity with the integral action are reduced from 0.4 V and 1.5 V to 0.2 V and 0.4 V, respectively. The adaptive control with the integral action gives satisfactory performance, even when it suffers from input disturbance.
authors.affiliation: State Key Laboratory of Structural Analysis for Industrial Equipment, Faculty of Vehicle Engineering and Mechanics, Dalian University of Technology, Dalian 116024, China. gqwu@dlut.edu.cn
authors.forename: Guo-Qiang
authors.initials: GQ
authors.lastname: Wu
authors.forename: Shu-Nan
authors.initials: SN
authors.lastname: Wu
authors.forename: Yu-Guang
authors.initials: YG
authors.lastname: Bai
authors.forename: Lei
authors.initials: L
authors.lastname: Liu