A direct PID gains tuning method for DC motor control using an input-output data generated by disturbance response

The disturbance attenuation FRIT method for regulator problems tunes the control parameters so that the disturbance response follows the disturbance reference model output. We have recently proposed such a disturbance attenuation FRIT method using input-output data generated by disturbances. This paper applies the disturbance attenuation FRIT method to a PID control gain tuning for a speed and position control for DC motor. The proposed method focuses on the step-type disturbance, e.g. load change or additive step signal at input signal, which generates an initial one-shot input and output data for PID gains tuning. The efficiency of the proposed method is shown through the experimental results of a speed and position regulation control for DC motor against the step-type disturbances.