Implementation of a Linear PII Position Controller in a Permanent Magnet DC Motor with Dead zone

In this article, based on classical control theory, the design and implementation of a novel control strategy to reduce the effects of dead zone and friction in the design of position control systems for DC motors is presented. The classic linear controller, consisting of a dual integrator and a lead compensator, results in an easy to implement control system that also, through the classic gain margin and phase margin indicators, guarantees stability and robustness conditions. To test the validity of this strategy, it is implemented using the Quanser DC Motor Control Trainer system resulting in a system capable of reducing unwanted oscillations, stick/slip effect, without inducing chattering in the control variable.