Design and Simulation of Self Tuning Controller for DC Servo Motor

Abstract

This paper presents an adaptive controller which improves the tracking performance between the plant and the desired response to obtain model following (the plant response completely follow the desired response). The DC servo motor is used (with fixed and variable load) as the plant response for the adaptive controller and the type of the controller that designed in this paper is indirect self-tuning controller STC with the parameters estimation. The parameters estimation is obtained by using the Least Square Estimation method and the model following is achieved by pole placement design method. Matlab program is used to design and simulation the controller and the simulation results show that the tracking error is reduced until becomes zero. At this point the DC servomotor response is closed to the desired response by the proposed controller as applied to the dc servomotor, also when the gain or the load of the DC servo motor is changed the output response of the STC is closed to the desired response after some time due to the estimation process, and the best value of the forgetting factor is less than one.