5. Conclusions

The conventional control and the compound adaptive control have been investigated by using a dc drive system. The complete methodology of tuning the controller parameters for the conventional control is provided. Under the assumptions mentioned in this chapter, the dc drive system has been implemented in Matlab-Simulink software. The adequate numerical simulation results have been obtained (Figure 6) for. Therefore, the regulation capability of the PI controller is tested under a variation of the load torque for a starting. Both, the dynamic and steady state regimes are investigated. In Figure 6b, the maximum load torque of the dc motor is used for a starting under the 70% load conditions. The maximum limit is maintained during the dynamic regime, the torque decreases in steady state due to the armature current decreasing. The constant parameter values have been considered. In case of the gradient and variable structure laws, the adaptive system is more robust to parameter uncertain or to unmodelled dynamics of the dc drive, and the increased regulation performances are obtained. The supraunitary relative degree model reference adaptive control has been considered.
