Nonlinear speed controllers for series DC motor

This paper addresses the speed control of a series DC motor. Based on the nonlinear motor system dynamics, the analysis and design of two novel speed controllers are presented, which are nonlinear PI and integrator backstepping controllers. The speed response following step changes in speed reference and load torque, using the proposed nonlinear controllers and traditional linear PI controllers, is compared to evaluate their merits. It is shown that the proposed controllers can provide stable and more excellent dynamic control performance than that of the traditional PI controllers in terms of rise time, overshoot and steady state error.