Abstract
A design procedure for an adaptive controller is described and applied to the design of a velocity controller for small dc motors. The basic concept has been to determine a small set of controllers each of which is capable of maintaining stability and acceptable performance over a specific region of motor load parameters. Optimal control theory is used to define the control coefficients while cluster analysis and decision function techniques from pattern recognition theory are used to determine each controller's region of applicability. Simulation results are presented to verify performance improvements using the design procedure. The design procedure produces an adaptive controller which is computationally feasible for implementation in small microcomputer systems.
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