Robust QFT-Based Control of the DC Motor Laboratory Model

The paper deals with robust control design of an original laboratory DC motor plant. The DC motor laboratory plant is built based on Arduino UNO and Matlab – Simulink environment. Mathematical model of the laboratory plant was identified as an uncertain model. To design a robust PI(D) controller in the frequency domain, the Quantitative Feedback Theory (QFT) was used. The designed robust controller was successfully verified in experiments on the DC motor plant including reference and disturbance step changes within the specified uncertainty area.