This paper presents the theoretical design and practical application of a modified controller to a DC motor for reference speed tracking control of DC drives. In the proposed technique, the motor performance can be controlled for input and external disturbances such as required speed trajectory tracking and load torque changes, respectively. A feedforward controller is used to achieve motor speed tracking for the reference speed changes. An optimal feedback controller is used to eliminate the speed effect due to the load torque changes. An additional feedback control loop of the motor load torque is developed to ensure the intensity fast speed stabilization even at large load disturbances. The effectiveness of the proposed control scheme is demonstrated by using a laboratory drive system with an on-line IBM PC computer and interfacing modules. Test results presented in this paper prove that the proposed control strategy is very effective in high performance input speed tracking applications and intensive load disturbances.
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