Abstract

This paper presents a unified adaptive passivity-based control strategy using incremental modeling to regulate the angular speed of a DC series motor driven by DC-DC converters operating in both buck and boost configurations. The proposed approach leverages an incremental port-Hamiltonian framework to design control laws that ensure the global asymptotic stability of the closed-loop system. To address the challenge posed by unknown load torques, a nonlinear disturbance observer is incorporated, allowing for the real-time estimation required for an accurate computation of equilibrium points and reference tracking. These theoretical developments are validated through experimental implementation and compared against an inverse optimal control (IOC) strategy. The results show that the proposed IDA-PBC significantly outperforms the IOC in terms of transient response, tracking accuracy, and disturbance rejection. In the buck configuration, the IDA-PBC reduces the rise time by up to 50.24% and completely eliminates the overshoot. Similarly, in the boost configuration, the rise time is improved by 20.63%, with enhanced stability and lower phase lag under sinusoidal tracking. These findings confirm the robustness and effectiveness of the proposed control strategy for real-time applications in electromechanical systems. © 2013 IEEE.