@ARTICLE{Pajchrowski_T._Adaptive_2020, author={Pajchrowski, T. and Siwek, P. and Wójcik, A.}, volume={68}, number={No. 5 (i.a. Special Section on Modern control of drives and power converters)}, journal={Bulletin of the Polish Academy of Sciences Technical Sciences}, pages={1019-1030}, howpublished={online}, year={2020}, abstract={The paper presents a method for designing a neural speed controller with use of Reinforcement Learning method. The controlled object is an electric drive with a synchronous motor with permanent magnets, having a complex mechanical structure and changeable parameters. Several research cases of the control system with a neural controller are presented, focusing on the change of object parameters. Also, the influence of the system critic behaviour is researched, where the critic is a function of control error and energy cost. It ensures long term performance stability without the need of switching off the adaptation algorithm. Numerous simulation tests were carried out and confirmed on a real stand.}, type={Article}, title={Adaptive controller design for electric drive with variable parameters by Reinforcement Learning method}, URL={http://www.czasopisma.pan.pl/Content/117700/PDF/07_D1019-1030_01572_Bpast.No.68-5_30.10.20_.pdf}, doi={10.24425/bpasts.2020.134667}, keywords={Reinforcement Learning, adaptive control, electric drive, machine learning}, }