Tracking control of dc motors via input-output linearization

This paper proposes a tracking controller for position and speed tracking of de motors using the input-output linearization technique. This technique is based on canceling the nonlinearities in the de motor model and finding a direct relationship between the motor output and input quantities. Performance of the controller is evaluated by forcing the position or speed of the motor to follow a desired trajectory under variable load torques. Simulation results show that effective tracking of de motors can be achieved via the proposed control strategy, thus making it suitable for high performance de motor tracking applications.