Permanent Magnet Brushed DC-Motor

Abstract

The mathematical model of these motors is derived. Then, the novel passivity-based approach is applied to permanent magnet brushed DC-motors. Although control of these motors are underestimated in the control community, we point out several problems that have not been considered by researchers which we succeed to solve in this chapter. Moreover, a nonlinearity is included in the position problem because it is assumed that motor actuates on a simple pendulum. Velocity and position regulation problems are solved as well as velocity control when motor is fed by DC/DC Buck power converters as power amplifiers. Sketches of the stability proofs are included in this chapter, but the complete stability proofs are presented in Appendices A and B.