الفهرس 
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Abstract
The Efficiency optimized speed control system for the separately excited dc motor system can be improved by controlling both armature current and field current simultaneously.Three synthesis methods are proposed,the first method is based on an original optimal controller,the optimal ratio of the armature impressed voltage and the field impressed voltage that gives the maximum efficiency is analytically derived.The two input single output mathematical model of the controlled system is transformed into a single- input,single output system by means of the derived relationship and the speed control system attaining the optimal ratio is synthesized.Beacause of the vastly change of parameter values and load disturbance Load Torque of controlled system,the steady-state characteristics obtained by this original optimal regulator technique are not bebeficial.In the second method an improved optimal regulator control system has been developed in order to obtain good steady-state characteristics and of course satisfy all the demands of the system in spite of parameter variations of the control system.An error system is derived to convert the tracking problem into a regulating problem which is easy to solve and more realizable.therefore it is necessary to regulate the state variables such that they become zero.the steady state error can be zero provided that the error system can be stabilized by an appropriate control input.due to the effect of nonlinearity of the sysem,the feedback coefficients are most likely deviated from the true values and this deviationsannot be checked theoretically by any technique.