Robust control of DC motor velocity through DC-DC Buck Power Converter

We are considering the problem of controlling DC motors velocity. The originality of the study is twofold: (i) the dynamics of the underlying converter are accounted for in the control model; (ii) the regulator design is robust with respect to uncertainties on the motor parameters. It is formally shown that the proposed regulator meets its objectives, namely closed-loop asymptotic stability, perfect tracking of the reference signal and robustness to parameters uncertainty. Finally, it is illustrated by simulation that the regulator performances may deteriorate significantly if the converter dynamics are not accounted for in the regulator design