Low speed control of DC motors with fuzzy adaption Conference Paper uri icon


  • Stick-slip type of oscillation caused by coulomb friction in commutator brushes of a DC motor is experimentally demonstrated. This is especially predominant at low velocities. A compensation scheme is developed using friction cancellation and fuzzy adaptation. The non-minimum phase effects of the zero order hold and computational delay are canceled using the ZPETC technique. An outer layer QFT type controller is used to tailor a good low speed step response.

author list (cited authors)

  • Surampudi, B., & Langari, G.

publication date

  • December 1993