A sensorless control based on the exact tracking error dynamics passive output feedback (ETEDPOF) methodology is proposed for executing the angular velocity trajectory tracking task on the "full-bridge Buck inverter-DC motor" system. When such a methodology is applied to the system, the tracking task is achieved by considering only the current sensing and by using some reference trajectories for the system. The reference trajectories are obtained by exploiting the flatness property associated with the mathematical model of the "full-bridge Buck inverter-DC motor" system. Experimental tests are developed for different desired angular velocity trajectories. With the aim of obtaining the experimental results in closed-loop, a "full-bridge Buck inverter-DC motor" prototype, Matlab-Simulink, and a DS1104 board from dSPACE are employed. The experimental results show the effectiveness of the proposed control.INDEX TERMS Motor drivers, power converters, full-bridge Buck inverter, DC motor, passivity control, differential flatness, trajectory tracking.

A mathematical model of a new "full-bridge Buck inverter-DC motor" system is developed and experimentally validated. First, using circuit theory and the mathematical model of a DC motor, the dynamic behavior of the system under study is deduced. Later, the steady-state, stability, controllability, and flatness properties of the deduced model are described. The flatness property, associated with the mathematical model, is then exploited so that all system variables and the input can be differentially parameterized in terms of the flat output, which is determined by the angular velocity. Then, when a desired trajectory is proposed for the flat output, the input signal is calculated offline and is introduced into the system. In consequence, the validation of the mathematical model for constant and time-varying duty cycles is possible. Such a validation of this mathematical model is tackled from two directions: (1) by circuit simulation through the SimPowerSystems toolbox of Matlab-Simulink and (2) via a prototype of the system built by using Matlab-Simulink and a DS1104 board. The good similarities between the circuit simulation and the experimental results allow satisfactorily validating the mathematical model.

The design of a robust flatness-based tracking control for the DC/DC Buck converter-DC motor system is developed in this paper. The design of the control considers the dynamics of a renewable energy power source that plays the role of the primary power supply associated with the system. The performance and robustness of the control is verified through simulations via MATLAB-Simulink when abrupt changes in some parameters of the system are taken into account. Also, experiments are performed by using a built prototype of the DC/DC Buck converter-DC motor system, a TDK-Lambda G100-17 programmable DC power supply, MATLAB-Simulink, and the DS1104 board from dSPACE. In this regard, the TDK-Lambda G100-17 is implemented with the aim of emulating photovoltaic panels through the solar array mode for generating the power supply of the system. Thus, both simulations and experiments show the effectiveness of the proposed control scheme.

In this investigation, a tracking control is designed for the angular velocity of the DC/DC Boost converter-DC motor system. To this end, the dynamics of the power supply, generated through a renewable energy power source, is considered in both the mathematical model and the designed control. This latter is proposed by using a two-level hierarchical approach, where the dynamics of the DC/DC Boost converter and the one associated with the DC motor not only are treated as two independent subsystems, but also they exploit their differential flatness property. For the DC/DC Boost converter, an alternative mathematical model of first order is obtained for designing the low-level voltage control. Whereas, the well known second order mathematical model of the DC motor is used for developing the high-level angular velocity control. The robustness and performance of the hierarchical tracking control are verified via realistic numerical simulations and experimental results by using Matlab-Simulink, a prototype of the system, the DS1104 board, and the renewable energy emulator TDK-Lambda G100-17. The results demonstrate and validate the effectiveness of the proposed approach.INDEX TERMS DC/DC Boost converter, DC motor, differential flatness, renewable energy, robust control, solar energy. I. INTRODUCTIONT HE DC motor is an electric machine with several applications [1]. Some of these are at industrial level (pumps, fans, robotics, automation), civilian (home appliances, ventilation, air conditioning), transportation (trains, electric vehicles, aircraft), and renewable energy (motor-generator pair system, solar pumps), among others. Related to industry applications, systems using a DC motor represents, on average, the 60% of electric consumption [2]. Because of this, the renewable energy turns out to be an interesting topic when is focused on feeding a motor. On the other hand, since the power electronics converters has a high efficency when converting electric energy, their application for driving motors feeded by renewable energy power sources is an excellent choice [3], [4]. In this sense, relevant published papers related to the DC/DC power electronics converters connected with DC motors are [5]-[68], being the Buck [5]-[47] and the Boost [48]-[57] topologies the most commonly used.

By developing a robust control strategy based on the differential flatness concept, this paper presents a solution for the bidirectional trajectory tracking task in the “full-bridge Buck inverter–DC motor” system. The robustness of the proposed control is achieved by taking advantage of the differential flatness property related to the mathematical model of the system. The performance of the control, designed via the flatness concept, is verified in two ways. The first is by implementing experimentally the flatness control and proposing different shapes for the desired angular velocity profiles. For this aim, a built prototype of the “full-bridge Buck inverter–DC motor” system, along with Matlab–Simulink and a DS1104 board from dSPACE are used. The second is via simulation results, i.e., by programming the system in closed-loop with the proposed control algorithm through Matlab–Simulink. The experimental and the simulation results are similar, thus demonstrating the effectiveness of the designed robust control even when abrupt electrical variations are considered in the system.