Optimization-Based PV/PI Design for a DC-Motor System with Delayed Feedback

Proportional velocity (PV) and proportional integral (PI) controllers are designed to regulate the angular position and angular velocity, respectively, of a DC motor system with a pointwise time-delay in the feedback loop. Because of the time-delay, the system is described by delay-differential equations which have infinitely many modes that can not be assigned by using classical pole placement methods. The proposed method is based on minimizing the real part of the rightmost closed-loop mode, i.e., spectral abscissa, as a function of the controller parameters. The effectiveness of the method is illustrated by simulations and real-time experiments.