Fezazi Omar, Hamdaoui Habib, Ayad Ahmed Nour El Islam, Ardjoun Sid Ahmed El Mehdi

DOI Number
First page
Last page


Parameter identification is a major problem in industrial environments where it might be difficult or even impossible in some situations. Moreover, non-measurable and unknown variations of system parameters can affect the performance of conventional proportional-integral (PI) controllers.  The concept of developing a controller that does not depend on the system parameters seems very interesting. Therefore, this paper deals with the experimental implementation of model reference adaptive control of a DC motor without identifying parameters. Adaptive control is considered an online solution to control a system without knowing system parameters since it can be adjusted automatically to maintain favorable tracking performance. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed control method.


uncertainty of the identification, adaptive control, reference model, DC motor

Full Text:



S. J. Chapman, Electric Machinery Fundamentals. Fourth Edition, 2005, Bae Systems Australia.

Z. Bitar, A. Sandouk and S. Jabi, "Testing the performances of DC series motor used in the electric car", Energy Procedia, vol. 74, pp. 148–159, 2015.

R. Alejandro, V. Miguel Gabriel and A. Mario, "An adaptive control study for the DC motor using meta-heuristic algorithms", Soft Comput., vol. 23, pp. 889–906, 2017.

Y. Li, S. Tong, and T. Li, "Adaptive fuzzy output feedback control for a single-link flexible robot manipulator driven DC motor via backstepping", Nonlinear Anal. Real World Appl., vol. 14, no. 1, pp. 483–494, 2013.

S.-F. Yang and J.-H. Chou, "A mechatronic positioning system actuated using a micro DC-motor-driven propeller-thruster", Mechatronics, vol. 19, no. 6, pp. 912–926, 2009.

S. Zaky, "Adaptive and robust speed control of interior permanent magnet synchronous motor drives", Electr. Eng., vol. 94, pp. 49–58, 2012.

I. D. Landau and L. Dugard, Commande adaptative aspets pratique et théorique : adaptive control practical and theoretical aspects , Masson, 1986.

H. P. Whitaker and A. Kezer, Design of Model-reference Adaptive Control Systems for Aircraft, Massachusetts Institute of Technology. Instrumentation Laboratory Jackson & Moreland, 1958.

S. Sastry, Nonlinear Systems Lyapunov, Stability Theory Springer, 1999.

F. A. Aliev, N. S. Hajieva and N. A. Safarova, "The Identification problem for determining the parameters of a discrete dynamic system", Journal of non-Destructive Testing and Evaluation. International Applied Mechanics, vol. 55, no. 1, pp. 128–135, 2019.

T. Kara and I. Eker, "Nonlinear closed-loop direct identification of a DC motor with load for low speed two-directional operation", Electr. Eng., vol. 86, pp. 87–96, 2004.

Q. Zhu, X. Yuan and H. Wang, "An improved chaos optimization algorithm-based parameter identification of synchronous generator", Electr. Eng., vol. 94, pp. 147–153, 2012.

V. Rashtchi, E. Rahimpour and E. M. Rezapour, "Using a genetic algorithm for parameter identification of transformer R-L-C-M model", Electr. Eng., vol. 88, pp. 417–422, 2006.

E. Rahimpour, V. Rashtchi and M. Pesaran, "Parameter identification of deep-bar induction motors using genetic algorithm", Electr. Eng., vol. 89, pp. 547–552, 2007.

T. Sands, "Control of DC Motors to Guide Unmanned Underwater Vehicles", Appl. Sci., vol. 11, no. 5, p. 2144, 2021.

R. Shah and T. Sands, "Comparing Methods of DC Motor Control for UUVs", Appl. Sci., vol. 11, no. 11, p. 4972, 2021.

T. Sands, "Development of Deterministic Artificial Intelligence for Unmanned Underwater Vehicles (UUV)", J. Mar. Sci. Eng., vol. 8, no. 8, p. 578, 2020.

R. Gerov and Z. Jovanović, "The usage of lambert w function for identification and speed control of a dc motor", FU Elec. Energ., vol. 32, no. 4, pp. 581–600, 2019.

M. Bozic, S. Antic, V. Vujicic, M. Bjekic and G. Đorđević, "Electronic gearing of two dc motor shafts for wheg type mobile robot", FU Elec. Energ., vol. 31, no. 1, pp. 75–87, 2018.

O. Fezazi, A. Haddj El Mrabet, I. Belkraouane and Y. Djeriri, "Sliding Mode Control for a DC Motor System with Dead-Zone", Journal Européen des Systèmes Automatisés, vol. 54, no. 6, pp. 897–902, 2021.

M. Stanković, M. Naumović, S. Manojlović and S. Mitrović, "Fuzzy model reference adaptive control of velocity servo system", FU Elec. Energ., vol. 27, no. 4, pp. 601–611, 2014.

P. Tomei and C. M. Verrelli, "Observer-based speed tracking control for sensorless permanent magnet synchronous motors with unknown load torque", In Proceedings of the XIX International Conference on Electrical Machines – ICEM, 2010, pp. 1–6.

K. In Hyuk, I. S. Yang, H. K. Sang and L. Seungchul, "Robust position control of DC motor using a low-order disturbance observer against biased harmonic disturbances", In Proceedings of the IEEE International Conference on Industrial Electronics for Sustainable Energy Systems (IESES), 2018, pp. 484–489.

S. Miao and L. Min, "Online Identification Technology Based on Variation Mechanism of Traction Motor Parameters", In Proceedings of the 4th International Conference on Advanced Electronic Materials, Computers and Software Engineering (AEMCSE), 2021, pp. 77–82.

C.-C. Hang and P. Parks, "Comparative studies of model reference adaptive control systems", IEEE Trans. Automat. Control, vol. 18, no. 5, pp. 419–428, 1973.

P. Swarnkar, J. S. Kumar and R.K. Nema, "Comparative Analysis of MIT Rule and Lyapunov Rule in Model Reference Adaptive Control Scheme", Innovative Systems Design and Engineering, vol. 2, no. 4, pp. 154–162, 2011.

N. Tariba, A. Bouknadel and A. Haddou, "Comparative study of adaptive controller using MIT rules and Lyapunov method for MPPT standalone PV systems", In the Proceedings of the AIP Conference 1801, p. 040008, 2017.

M. Swathi and P. Ramesh, "Modeling and Analysis of Model Reference Adaptive Control by Using MIT and Modified MIT Rule for Speed Control of DC Motor", In Proceedings of the IEEE 7th International Advance Computing Conference, 2017, pp. 482–486.

S. Mallick and U. Mondal, "Performance Study of different Model Reference Adaptive Control Techniques applied to a DC Motor for Speed Control", In Proceedings of the IEEE Xplore Proceedings of the Third International Conference on Trends in Electronics and Informatics (ICOEI), 2019, pp. 770–774.


  • There are currently no refbacks.

ISSN: 0353-3670 (Print)

ISSN: 2217-5997 (Online)

COBISS.SR-ID 12826626