Abstract
A robust adaptive PID controller is proposed for electromechanical speed control system with unknown uncertainties and external load disturbances. The robust adaptive controller is comprised of an optimal PID controller and a CMAC controller. The optimal PID controller is designed to stabilize the nominal system, and the CMAC controller is designed to compensate for the system unknown uncertainties and external load disturbances. The robust adaptive PID controller can guarantee the system tracking error and CMAC weight errors converging to zero. Simulation results demonstrate that the proposed controller has favorable tracking performance and robustness to system uncertainties and external disturbances.
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