One variant of self-tuning DC motor adaptive controller

This paper proposes a self-tuning adaptive controller in order to produce response of a second order block from the typically nonlinear motor. Periodic reset of controller´s estimator block is employed as an improvement of the original design. Classical model of DC motor is well-controlled via this improved controller, while for the system containing a motor and thyristor-fired phase-controlled rectifier a new improvement is introduced, the arcsine compensation block. Controller is tested in different simulation conditions and it shows high ability to compensate any effects, produced either by the reference value change or the external error induced by load or thyristor rectifier.