State Dependent Disturbance Compensation Method for Motor Control System with Unknown Constant Input Time Delay

Abstract

Motor control researchers have suggested several types of control methods that attempt to eliminate the effects of state dependent disturbances in the motor control environment. However, those control schemes have not considered the unknown input time delay. This paper presents a state dependent disturbance compensation method using adaptive control scheme in unknown constant input time delay existing motor control environment. The effectiveness of the proposed state dependent disturbance compensation method is demonstrated using MATLAB simulations and experiments results. A compensation method is also available in the environment which contains an additional known output time delay.