Design and verification of novel adaptive controller in speed servo drive

When designing the control algorithm in motion systems, it is not always possible to apply the theory of linear control systems directly. The reason may be a non-linearity of a load, variation of drive parameters, or their lack of knowledge. In this case the solution is the use of adaptive systems. The paper describes an algorithm that combines the IP control scheme and the Model Reference Adaptive Control (MRAC) to adjust the controller parameters and to identify the motor parameters in real time. The proposed solution does not require initial setting of controller parameters. Features of the proposed algorithm are verified by simulations and the results are presented in the paper. Designed MRAC IP controller is suitable for practical implementation in DC and AC drives.