Prescribed Time Velocity Tracking Control of Direct Current Motor Systems

This work presents a backstepping type, prescribed time controller designed for precise velocity control of direct current motors. The controller ensures that the angular velocity of the system converges to a given desired velocity profile within a user defined prescribed time. The stability and boundedness of the controller and the closed--loop system are validated via Lyapunov--based arguments. Numerical simulation studies are carried out to evaluate the robustness of the controller against bounded and time-varying disturbances.