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Fig 1.

Permanent magnet DC motor.

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Fig 1 Expand

Table 1.

Parameters of DC servo motor.

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Table 1 Expand

Fig 2.

Closed-loop response without AWC.

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Fig 2 Expand

Fig 3.

Control signal without AWC.

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Fig 3 Expand

Fig 4.

Windup effect without AWC.

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Fig 4 Expand

Fig 5.

Closed-loop response with AWC.

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Fig 5 Expand

Fig 6.

Control signal with AWC.

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Fig 6 Expand

Fig 7.

Windup effect with AWC.

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Fig 7 Expand

Fig 8.

Sensor nonlinearity for DC motor speed control.

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Fig 8 Expand

Fig 9.

Response without AWC under sensor nonlinearity.

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Fig 9 Expand

Fig 10.

Response with the proposed AWC under sensor nonlinearity.

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Fig 10 Expand