International Journal of Control Science and Engineering 2014, 4(1): 1-8 DOI: 10.5923/j.control.20140401.01 PMDC Motor Speed Control Optimization by Implementing ANFIS and MRAC Seyed Zeinolabedin Moussavi 1 , Maryam Alasvandi 2,* , Shahram Javadi 2 , Ehsan Morad 3 1 Electrical & Computer Engineering Faculty, Shahid Rajaee Teacher Training University, Lavizan, Tehran, Iran 2 Department of Electrical Engineering, Islamic Azad University, Central Tehran Branch, Poonak, Tehran, Iran 3 Department of Electrical Engineering, Islamic Azad University, SHADEGAN Branch, PO box 6431863758, SHADEGAN, Iran Abstract There are pivotal reasons for PMDC application in industry. Various control structures can be implemented to achieve speed optimization. The paper take into account control structure based on combination of MRAC (Model Reference Adaptive Control) and ANFIS (Adaptive Neuro-Fuzzy Inference System) for PMDC (Permanent Magnet Direct Current) motor to use advantages of both structures simultaneously. The error signal reduction in MRAC system is modified by means of ANFIS controller. The reason behind is due to smaller rule base for covering any possible situation occurring in real motor applications. Comparison of the above named combination of structures with the previous ones by means of simulation in MATLAB, Simulink proved notable improvement behavioural characteristics of PMDC motor. Keywords ANFIS, MRAC, PMDC motor, Speed control 1. Introduction In recent years, permanent magnet DC motors are used in variety of application including heater, wiper and air conditioner of car and personal computer. These motors need no excitation current; hence no energy consumption due to field fluxes producing. In addition, PMDC motors have no requirement for field winding therefore size of PMDC motors are smaller than conventional DC motors and cost of PMDC motors are relatively lower[1]. However there exist different methods for motor Control, but these methods generally are classified into: 1. PID controller [2, 3]. 2. Modern controller [3]. 3. Intelligent controller [3, 1]. Model Reference Adaptive Control (MRAC) is considered beneath of modern controller; belongs to adaptive control category. In the sense of control theory and engineering, an adaptive controller is an "intelligent" controller that can modify its behaviour in response to the variations in the dynamics of the process and the character of the disturbances. An adaptive system is any physical system that has been designed with an adaptive viewpoint. The Model Reference Adaptive Control System is an adaptive servo system in which the desired performance is expressed in terms of the reference model, which gives the desired response to the reference signal [4]. * Corresponding author: malasvandi@yahoo.com (Maryam Alasvandi) Published online at http://journal.sapub.org/control Copyright © 2014 Scientific & Academic Publishing. All Rights Reserved On the other hand Adaptive Neuro-Fuzzy Inference System (ANFIS) related to intelligent control, the strategy which combines advantages of neural network and fuzzy control. In recent years, many researches are done for designing ANFIS based controller such as design ANFIS for speed control of induction motor, the speed controller uses error and change in error for determining controlling signal and by means of 49 if-than rule improve the dynamic performance and stabilization [5]. In other research, ANFIS based controller for stepping motor drive is designed. In mentioned controller, the best parameters for the fuzzy controller are determined by using the ANFIS methodology. Designer by means of simulation and experimental results shows that ANFIS based controller is better in tracking and adaptability than the PID and Mamdani based fuzzy controllers [6]. In other paper, researchers show that genetic-ANFIS controller has better performance than classic PID controller for induction motor [7]. According to the specific application of permanent magnet DC motor and high application of ANFIS based control methods in industry; designing control method based on ANFIS for PMDC motor is remarkable subject. In this paper, we proposed control structure based on MRAC and ANFIS for PMDC motor. The control structure is compared with other methods such as adaptive – fuzzy control. After carefully simulation and making comparison; we could conclude advantages of the structure and more reasonable behaviour. The paper is organized as follow: Section 2 discusses model of permanent magnet DC motor. The adaptive controller is explained in section 3. Section 4