ADAPTIVE CONTROLLER DESIGN FOR TRAJECTORY TRACKING IN SECOND-ORDER SYSTEMS: APPLICATION TO DC MOTOR VELOCITY CONTROL
Efrain Ibarra Jimenez, Omar Vargas Gutiérrez, Ricardo Chapa García, Romeo Selvas Aguilar
Abstract: This paper presents the design and implementation of a structured model-based reference tracking controller for second-order dynamical systems. A theoretical foundation is established by proving that the tracking error dynamics can be reduced to a first-order equation, significantly simplifying the control design. Based on this theoretical framework, a control law is proposed to ensure that the system follows a desired reference trajectory. The controller's structure inherently compensates for parameter uncertainties through feedback terms, eliminating the need for explicit online estimation. The proposed controller is implemented on a DC motor to regulate its angular velocity. Experimental results are provided, demonstrating the effectiveness of the controller in achieving precise trajectory tracking under real operating conditions. A comparative analytical assessment with conventional PID control highlights the advantages of the proposed approach in terms of systematic tuning, guaranteed stability, and predictable convergence.
Keywords: Adaptive control, Trajectory tracking, Second-order systems, DC motor control, Experimental implementation
DOI: 10.24874/PES08.03B.005
Recieved: 09.03.2026 Revised: 02.06.2026 Accepted: 19.06.2026
UDC:
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