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