Robust H∞ controller design for a DC motor supplied by an AC-DC power converter

In this paper, a robust H_infin controller is designed and applied to a DC motor in speed control framework. The performance and robustness aspects of controlled system related to modelling uncertainties and external disturbances are the particular attention. In a frequency formalism, the recourse to the sensitivity functions, as tool of study, leads to develop frequency templates translating the performance and robustness concepts. The H_infin synthesis of the controller satisfying the obtained templates is designed while using the Ricatti equations based-method. The robustness of the obtained controlled system will be examined by an unstructured analysis. In order to validate the proposed controller algorithm within a speed control application, the obtained controller was tested extensively in both simulation and hardware cases.