Design of PID controllers based on root locus for the position control of DC motors

Authors

  • Matheus de Sousa Pereira Rodrigues
  • Celso Setsuo Kurashima
  • Alfredo Del Sole Lordelo Universidade Federal do ABC - UFABC

Keywords:

Control System Design, Linear time-invariant system, Root locus, PID control, DC motor

Abstract

This paper presents a novel design methodology of PID controllers based on root locus for the position control of DC motors. The fundamental idea is to properly allocate the two zeros of the open-loop transfer function in the form of a complex conjugate pair. This allows to establish the transient response specifications of the closed-loop controlled system. Since the transfer functions of the DC motor and the PID controller has, each one, a pole at the origin, it follows that the open-loop transfer function has two poles at the origin. Based on the rules for obtaining the root locus, for a positive open-loop gain, the dominant closed-loop poles start from the origin as a complex conjugate pair and end at the complex conjugate open-loop zeros, which become complex conjugate closed-loop poles for an infinity open-loop gain. To avoid high PID controller gains, the PID controller open-loop zeros are shifted in the complex plane in both, real and imaginary axes, by a positive factor. The performance analysis is based on results obtained from computer simulation and experimental implementation.

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Published

2023-09-01 — Updated on 2023-09-02

How to Cite

de Sousa Pereira Rodrigues, M., Kurashima, C. S., & Del Sole Lordelo, A. (2023). Design of PID controllers based on root locus for the position control of DC motors. Journal of Production and Automation (JPAUT) ISSN 2595-9573, 6(1), 2–10. Retrieved from https://jpaut.com.br/index.php/jpaut/article/view/65