Switching PI speed control of a nonlinear laboratory dc micro-motor using low-cost embedded control hardware and software

Abstract

The design of simple linear control laws via linear mathematical models is a standard part of every control systems laboratory in a standard undergraduate curriculum. A typical example is the design of PI control laws for the speed control problem of DC motors. Embedded control is taught nowadays using cheap take-home equipment based on low-cost microprocessors like Arduino and dc micro-motors. Although offering ease for the demonstration of simple PI control laws, these motors exhibit nonlinear characteristics, which can be dealt with the application of more advanced control laws. The paper's purpose is twofold: first, to explore the possibilities offered by low-cost equipment, as a test bed for the “proof of concept” of more sophisticated switching control laws; and secondly to unfold the possibilities offered by this new environment for teaching, demonstration, project work, as well as research purposes, in the current laboratory practice.