Roger Aarenstrup
roger.aarenstrup@mathworks.com
CONTENTS
Introduction 3
The dc motor model 4
Speed control with pid 6
Continuous control 6
Discrete Control 7
Choosing parameters 9
Hand Code testing 10
Using Simulink Control Design Products 10
Rapid Prototyping 10
Fixed Point 11
Production Code Generation 11
Position control using state feedback pole placement 12
Attempt 1 - state feedback and static gain 12
Attempt 2 C integral action 12
Attempt 3 C Observer 13
Attempt4 C The servo case 13
Considerations 14
Bandwidth 14
Sample rate 16
References 17
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