Nonlinear Tracking Control with EKF for a DC Motor Supplied by a Boost Converter

Abstract

This paper deals with angular velocity tracking control for a DC motor that is supplied by a boost DC-DC power converter. Here, robustness regarding model uncertainty and unknown load disturbance torques is important. The cascaded nonlinear control design for the electromechanical systemis is based on a time-averaged nonlinear model. The proposed tracking control has a cascade structure reflecting the subsystems boost converter and DC motor, which is combined with a central extended Kalman filter for state and disturbance estimation. In the inner control loop, a nonlinear tracking control based on extended linearization techniques is designed for the output voltage of the boost converter, whereas the outer loop involves a super-twisting sliding mode control for the angular velocity of the DC motor addressing an unknown load disturbance torque and model uncertainty. The benefits of the proposed control structure are evaluated by simulations using a validated model from the literature.