Preset time tracking control method of direct current motor servo system

The invention discloses a preset time tracking control method of a direct current motor servo system. The method comprises the following steps: establishing a dynamic differential equation of the direct current motor servo system based on an automobile active steering system; converting the dynamic differential equation into a state differential equation of the direct current motor servo system by selecting a state variable and applying state conversion; aiming at the state differential equation, designing an actual self-adaptive state feedback controller by adopting a time-varying constraint function, a time-varying composite function, a back-stepping method and a positive definite Lyapunov function; carrying out stability analysis on a closed-loop system formed by a state differential equation and the designed actual adaptive state feedback controller; and giving a preset time tracking control simulation experiment of the direct current motor servo system. According to the method, modeling can be carried ou