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DC Motor Controller Tuning

This example shows how to design a PI control system to control the speed of a DC motor, and is based on the Control System Toolbox™ example "DC Motor Control".

After loading the model and pre-configured SISO Design Task, you can design a new controller using Response Optimization.

Requires Control System Toolbox™.

Opening the model and SISO Design Task

Open the model and pre-configured SISO Design Task using the command

sisotool('dcmotor_demoproject')

Design Overview

The goal of the overall design is to track a reference change in speed with minimal overshoot and to reject output disturbances. The controller must satisfy the following requirements:

  • The closed-loop poles of the control loop are restricted to a region on the root locus plot that implies less than a 5% overshoot.

  • The closed-loop poles of the control loop are restricted to a region on the root locus plot that implies a settling time less than 2 seconds.

  • The output (y) of a unit step output disturbance is reduced by 80% within 0.5 seconds and by 95% within 1 second.

These design requirements have been added to the SISO Design Tool and the LTI Viewer. To complete the design, using response optimization, click the Start Optimization button within the Response Optimization node in the Control and Estimation Tools Manager.

doClose(slctrlexplorer)
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