Nonlinear tracking control of a dc motor via a boost-converter using linear dynamic output feedback

In this contribution a tracking controller for the shaft angular velocity of a DC motor connected to a boost type power converter is designed. This system is not flat and the internal dynamics with respect to the angular velocity are unstable. A linear dynamic output feedback controller is designed which stabilizes the linearized tracking error dynamics about the reference trajectory. To this end, the results in (J. Deutscher, 2002), (F. Antritter et al., 2004) for the design of linear tracking controllers for flat systems are extended to non-flat systems. The differences to the controller design using the state space approach for linear time varying systems are discussed