Adaptive speed controller design based on backstepping for DC motor system with parameter uncertainties

A nonlinear adaptive speed control scheme based on backstepping control technique is proposed for DC motor system. First state reconstruction techniques transform the DC motor model into a cascaded structure adapt to the normal backstepping method, then nonlinear adaptive backstepping controller designed can compensate the nonlinearities which is robust to the parameter uncertainties and load torque disturbance. Simulation results show that the proposed control scheme updates the system parameters and provide an efficient control design both for speed tracking and regulation successfully under parameter uncertainties and load torque disturbance.