Robust converter-fed motor control based on active rejection of multiple disturbances

In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design based on idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable reconstructing various types disturbances (including complex, harmonic signals). A special formulation the allows action to be expressed in concise and practically appealing form reducing implementation requirements. obtained experimental results show increased performance introduced approach over conventionally used methods tracking precision rejection, while keeping similar level energy consumption. stability analysis using theory singular perturbation further supports validity approach.