TY  - JOUR
PY  - 2013//
TI  - Experimental studies on model reference adaptive control with integral action employing a rotary encoder and tachometer sensors
JO  - Sensors (Basel)
A1  - Wu, Guo-Qiang
A1  - Wu, Shu-Nan
A1  - Bai, Yu-Guang
A1  - Liu, Lei
SP  - 4742
EP  - 4759
VL  - 13
IS  - 4
N2  - 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 . 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.<p />  <p>Language: en</p>
LA  - en
SN  - 1424-8220
UR  - http://dx.doi.org/10.3390/s130404742
ID  - ref1
ER  -