PI-Control-of-Motor-Using-Matlab/Simulink

Using Matlab, design a PI control system for motor.

Target Performance Specification: 1. Overshoot ≤ 10%, 2. Rise Time ≤ 3s, 3.Settling Time ≤ 15s, 4. Steady State Error ≤ 1%

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Ciruit and Motor Free Body Diagrams

This is the circuit and motor free body diagram. Using this, we will calculate the transfer function of the plant.

After Calculation, the transfer function of the plant is equal to the equation above.

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Plant Step Response

Steady State Error exists. Also, ziegler nichols method cannot be applied to this plant.

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Root Locus

Using Matlab, we get the following Root Locus;


When Kp=Ki


When Kp=10Ki The dominant poles are located near the origin.

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Perfomance Index

Using Matlab StepInfo(), we can calculate the overshoot, rise time, etc w.r.t Step Reference.

When Kp=1000, Ki=100, the feed back control showed the best performance.

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Step Reference Tracking

Correspondingly, Kp=1000, Ki=100 showed the best performance at tracking Step reference.

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Disturbance Rejection

System Model with Disturbance:

Sine Disturbance:

Step Disturbance:

Ramp Disturbance:

Parabola Disturbance:

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User Defined Reference Tracking

The following is the signal defined which will be a reference.

The following is the system model.

Result(Left) and Error(Right):

The error is very minimal.