A new approach to adaptive control using a modified observer
This thesis proposes a new approach to adaptive control using a modified observer. The study includes the presentation of the concepts of the fictitious disturbance and the modified observer, to analyze plants with unknown parameters; it also includes the description of the controller proposed and the criteria recommended to choose the parameters of the controller and the observer. Analysis, design and simulations have been done to show the performance of the control scheme proposed to compensate the differences between the model and the plant; the control scheme was also simulated under the situation of variation of parameters of the plant. A practical application of the control scheme proposed has been analyzed for position control using DC motors, and the real-time implementation was performed to show the performance of the controller in cancellation of the external load. The real-time implementation was performed using a DSP (digital signal processor).