An adaptive feedback linearizing controller for a shunt DC motor

This paper presents the design and implementation of an adaptive feedback: linearizing controller for a shunt DC motor. Experimental evaluation of the proposed scheme is presented. A nonlinear observer for load torque with linear error dynamics is developed. Experimental results illustrate that good performance is obtained when the system operates outside amplifier saturation. The adaptive approach adds robustness to the input-output linearization technique when applied to motor control.