Predefined-time stabilization of brushed direct current motor system affected by matched and unmatched disturbances and stochastic noises

This paper presents the predefined-time convergent robust controller design for a brushed direct current (DC) motor system affected by matched and unmatched deterministic disturbances and stochastic noises, considering both fully measurable and incompletely measurable states. The control algorithm allows the control designer to set the convergence time a priori. The convergence time is independent of initial conditions and disturbances and noises affecting the system. Numerical simulations are conducted to demonstrate efficiency of the designed control algorithm. The obtained results show that the control algorithm counteracts the matched and unmatched disturbances, and noises in case of fully measurable states and mitigates their influence in case of incompletely measurable ones.