Cascaded adaptive position control of a DC motor

The development and theory of a cascaded position control system for a power transistor driven DC motor are described. The control strategy employs a multiloop feedback control which is intended to increase the output precision and closed-loop bandwidth. The inner loop is analog and the output loop is digital. A novel control algorithm based on the approach of pole placement is developed, and the performance of the system is compared with that using self-tuning control. Compared to the self-tuning control scheme, the performance of the adaptive pole placement algorithm is promising