Robust exact model matching via P-D feedback with application to DC servo motor

Abstract

The problem of exact model matching for single input single output linear systems with nonlinear uncertain structure, via an independent of the uncertainties P-D state and output feedback, is studied. The necessary and sufficient conditions for the problem to have a solution, are established. The general expressions of the feedback matrices solving the problem are derived. For the special case of static state feedback, the respective results are also derived. For a permanent magnet DC motor with uncertain load inertia and viscosity, an independent of the uncertainties P-D feedback law is applied to yield a closed loop system transfer function which is equal to that of a desired model's.