DC Motor Control

This repository contains a series of control system experiments focused on the modeling and control of a DC motor. Developed as part of the Automated Control Systems II course, the labs explore key techniques in classical and modern control theory, including:

• System identification from experimental step response
• State feedback control for position regulation
• Integral action to eliminate steady-state error
• State observer design for output feedback control

Each lab is implemented in real-time using MATLAB and Arduino-based hardware. The experiments are accompanied by theoretical derivations, control design, and performance evaluation documented in the report.

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Lab Summaries

Lab 1 – System Identification

Experimental estimation of the DC motor’s parameters based on step response measurements. Parameters include time constant, gain, torque constant, back-EMF, and friction coefficient.

See Section: "Εργαστήριο 1ο" in report.pdf

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Lab 2 – State Feedback Control

Design and implementation of a full-state feedback controller to regulate motor position using measured states (position and speed). The controller is tested under different reference values and conditions.

• lab2_state_feedback.m

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Lab 3 – Integral State Feedback

Extension of Lab 2 with dynamic state feedback that includes an integral term to reject constant disturbances (e.g., friction). The integrator improves steady-state tracking performance.

• lab3_integral_feedback.m

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Lab 4 – Observer Design & Output Feedback

Two parts:

• Observer Simulation: Design and simulation of a Luenberger observer to estimate unmeasured states. Analysis of estimation accuracy.
  • lab4_observer_simulation.m
• Output Feedback Control: Closed-loop control using estimated states instead of direct measurements. Comparison of system performance with different observer pole placements.
  • lab4_observer_feedback.m

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Documentation

• lab_specs.pdf — Lab assignment description and motor system schematic
• report.pdf — Full technical report with theoretical analysis, simulation plots, controller design, and experimental evaluation

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Repository Structure

dc-motor-control/
│
├── src/
│ ├── lab2_state_feedback.m
│ ├── lab3_integral_feedback.m
│ ├── lab4_observer_feedback.m
│ └── lab4_observer_simulation.m
│
├── lab_specs.pdf
├── report.pdf
└── README.md

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Author

Panagiotis Koutris
Undergraduate at AUTH – School of Electrical & Computer Engineering

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License

Licensed under the Apache 2.0 License.