Autotuned Controller for a DC Motor

The hardware-in-the-loop (HIL) configuration for a real DC motor speed control, using PI controller with Matlab/Simulink Autotuner block, is proposed in the paper. The corresponding simulation scheme is also presented, where a specific encoder model is provided. Design details concerning HIL functionalities are analysed, options for Autotuner settings are verified by experiments. The obtained results illustrate significant improvement of closed-loop performance received by on-line tuning of PI parameters using Autotuner block.