Robust Control of a Parametrically Uncertain Cascade Speed Control System for a DC Motor

This paper is devoted to the development of a cascade control system ensuring high static and dynamic characteristics of an electric drive. The relevance of the work is determined by the need to solve problems that take into account the inaccuracy of knowledge about the controlled objects and external disturbances acting on them. The system is divided into loops with the main and auxiliary controllers, allowing for the independent and sequential adjustment of their parameters. Proportional-integral-derivative (PID) control is used to control the current in the inner loop and to control the speed in the outer loop, ensuring the robust properties of the system. The novelty of the robust control synthesis lies in the fact that several controllers ensure the stability of closed subordinate loops and the entire system as a whole. The model was investigated in the Matlab/Simulink environment using the ϻ-synthesis program.