Nonlinear control of DC machines

A novel approach to the control of DC motors is presented. The approach is based on the state feedback linearization which consists mainly of a coordinate transform and a state feedback. The advantage of this approach is its validity for a variety of operating points as opposed to conventional linearization techniques which are only valid in a narrow strip around the linearization point. Three models of series, shunt, and separately excited DC motors are proposed and shown to be feedback linearizable. Numerical simulations are included to illustrate the method and to demonstrate its advantages over conventional techniques.