Oh, Kwang-SeokSeo, Jaho2018-11-062018-11-06May-18978-1-77355-023-7http://hdl.handle.net/10315/35237http://dx.doi.org/10.25071/10315/35237This paper presents an online tuning rule-based adaptive control algorithm to control DC motor speed. For this, a method of recursive least squares with forgetting was proposed to approximate the relation between single input (voltage) and single output (angular speed) of the DC motor system as a first order differential equation. Using this approximated first order system and Lyapunov method-based disturbance observer with the online turning rule, a voltage input of the DC motor was generated to track a desired value of rotational speed of the motor. A performance evaluation of the proposed algorithm was conducted in the MATLAB/Simulink environment. The results show that the designed algorithm enables to track the reference speed successfully using only a single input and a single output of DC motor system.enThe copyright for the paper content remains with the author.Lyapunov direct methodrecursive least squaressingle input single outputdisturbance observerDC motor systemMechatronicsRobots and ControlArticle