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Design of a Nonlinear Speed Controller for a DC Motor System with Unknown External Torque Based on Backstepping Approach

Yasir Khudhair Abbas; Dr. Shibly Ahmed AL-Samarraie

Volume 12, Issue 1 , June 2012, , Page 1-19

Abstract
  A nonlinear PI controller for a system with a mismatched and unknown external disturbance is proposed in the present paper. A Sigmoidal function is proposed to be used in the nonlinear integral element to attenuate the disturbance effect. Formally the controller forces the state to a positively invariant ...  Read More ...