A Digital Flatness-based Control System of a DC Motor

Mounir AYADI, Jospeh HAGGEGE, Soufiène BOUALLEGUE, Mohamed BENREJEB
Research Unit LARA Automatique, ENIT
BP 37, le Belvédère, 1002 Tunis, Tunisia

Abstract: In this paper, an approach to design and implement a real-time system based on a RISC microcontroller dedicated to a DC motor speed control, is proposed. A polynomial RST controller based on the flatness property of linear systems is implemented in C/C++ embedded programming language. The flatness property is used in order to design a robust controller with high performance in terms of tracking. The proposed controller is then applied to control a DC motor. The simulation and experimental results underline the efficiency of the flatness-based polynomial controller in a real-time control framework.

Keywords: Flatness control, RST polynomial controller, robustness, trajectory planning and tracking, microcontroller, AC-DC power converter.

Mounir Ayadi graduated from Ecole Nationale d’Ingénieurs de Tunis in 1998 and received his PhD degree in Automatic Control from the Institut National Polytechnique de Toulouse in 2002. He was a post-doctoral fellow at the Ecole Supérieure d’Ingénieurs en Génie Electrique de Rouen in 2003. He is currently Maître-Assistant at the Ecole Nationale d’Ingénieurs de Tunis. His research interests are in the area of control system theory, predictive and adaptive control, and flat systems.

Joseph Haggège graduated from Ecole Nationale d’Ingénieurs de Tunis and received the PhD degree in Electrical Engineering in 1998 and 2003, respectively. He is currently Maître-Assistant at the Ecole Nationale d’Ingénieurs de Tunis. His research interests are in the area of fuzzy, neural and neuro-fuzzy control, and embedded systems.

Soufiène Bouallègue received the Engineer Diploma degree in Electrical Engineering and the Master in Automatic Control from Ecole Nationale d’Ingénieurs de Tunis in 2006 and 2007, respectively.

Mohamed Benrejeb has obtained the Diploma of “Ingénieur IDN” (French “Grande Ecole”) in 1973, the Master degree of Automatic Control in 1974, the PhD in Automatic Control of the University of Lille in 1976 and the DSc of the same University in 1980. He is currently a full Professor at the Ecole Nationale d’Ingénieurs de Tunis and an invited Professor at the Ecole Centrale de Lille. His research interests are in the area of analysis and synthesis of complex systems based on classical and non conventional approaches.

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CITE THIS PAPER AS:
Mounir AYADI, Jospeh HAGGEGE, Soufiène BOUALLEGUE, Mohamed BENREJEB, A Digital Flatness-based Control System of a DC Motor, Studies in Informatics and Control, ISSN 1220-1766, vol. 17 (2), pp. 201-214, 2008.