Comparative Study of Four Controllers Applied on Shunt-Excited DC Motor

Abstract

Engineering control problems include several types of nonlinear dynamics.
This paper presents the stabilization design problem for the Single Input
Single Output (SISO) nonlinear control system. A case study, which
includes the stabilization problem of shunt-excited DC motor, is
considered in this work by establishing the basic form of the nonlinear
control law and applying four types of control techniques including
diffeomorphisme and feedback linearization. The proposed controllers are
two feedback controllers, zero dynamics controller and Lyapunov
controller. Different initial conditions for each proposed controller are
numerically simulated using MATLAB®\Simulink®. Consequently, the
energy of each control signal and the corresponding energy of the state are
computed and compared to evaluate each considered control technique. As
a result, the zero dynamics controller has the advantage of being the
simplest controller design and generate the minimum controller energy
consumption relative to other proposed controllers. Moreover, the
Lyapunov controller method leads to satisfactory behavior in means of
minimum transient response of the dynamical system states comparing to
other propose controllers