Control Tutorials for MATLAB and Simulink - Motor Position: Digital Controller Design

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CRUISE CONTROL

SYSTEM
MODELING
ANALYSIS

CONTROL

DC Motor Position: Digital

Controller Design
Key MATLAB commands used in this tutorial are: tf , c2d ,
minreal , zpk , feedback , stairs , step

PID
ROOT LOCUS
FREQUENCY
STATE-SPACE
DIGITAL

Contents
Creating a sampled-date model of the plant
Root locus design

In this example, the controller will be designed applying a Root

Locus method. A sample-data DC motor model can be obtained

SIMULINK
MODELING

from conversion of an analog DC motor model, as we will describe.

According to the DC Motor Position: System Modeling page, the
continuos open-loop transfer function for DC motor's position in the

CONTROL

Laplace domain is the following.

(1)

The structure of the control system has the form shown in the figure
below.

http://ctms.engin.umich.edu/CTMS/index.php?example=MotorPosition&section=ControlD... 2/16/2015