Synchronization of Velocity and Position using PI, PID and DOB controllers

Abstract

This paper depicts the difference among using PI, PID and DOB (disturbance observer) controllers utilized in synchronization of two DC motors. It is observed that the DOB controller provides significantly faster response and a minor ripple in comparison to the PI and PID controllers. In addition, in terms of the tracking of the reference signal, DOB outperforms the competitors and the error dynamics obtained in the experimental results demonstrate the superiority of the DOB in both tracking, convergence and response time. Furthermore, the inability to precisely tune PID and PI controllers is one of the major drawback to their utilization, which in the case of synchronization can lead to the unwanted oscillatory behavior, while the DOB adjusts swiftly without the requirement for precise tuning.