Design and Analysis of ITAE Tuned Robust PID Controller for Brushed DC Motor

Robust control is one of the most evergreen control techniques which has practical significance in actual engineering applications primarily because almost all systems have uncertainties and to deal such uncertain systems there is no better control than robust techniques. In this regard PID controllers have been a long time favourite in the industry but for robustness, suitable tuning of PID controller is essential. This has always been a subject of interest and been evolving ever since its inception. In this paper a well established technique of Integral Time Absolute Error (ITAE) has been used to develop a robust PID controller for a brushed DC motor speed control. The DC motor model is first analysed using LFT technique to obtain the various system transfer functions. Later the robustness of the controller is experimented and established through simulations for parametric variations.