In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
11, N
o.
1, Mar
ch 20
20,
p
p.
119~
1
2
6
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
1
19-
12
6
119
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
PI contr
oller for D
C
motor sp
eed realized with sim
u
link and
practical
measuremen
ts
Moh
a
mme
d
A.
I
b
r
ah
i
m
, A
l
i
N
.
Ham
ood
i,
B
ash
a
r
M. S
ali
h
Dep
a
rtm
e
nt of
Power T
echn
i
cal Eng
in
eerin
g
, N
o
r
t
h
ern
Techn
i
cal U
nive
r
s
i
t
y
, Ira
q
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
Re
ce
i
v
e
d
Mar
4
,
201
9
Re
vise
d Mar
2
1
,
201
9
Ac
ce
p
t
ed
No
v
1
7
,
2
019
Th
is
a
rticl
e
d
esc
r
i
b
es
t
he
m
et
h
o
dol
og
y
of
s
peed
c
ont
rol
by
u
n
d
e
rst
a
ndi
ng
con
t
ro
l
m
e
th
od
o
f
DC
m
oto
r
,
de
fi
nit
e
ly,
arm
a
tu
re
a
nd
f
i
e
ld
r
esi
stan
ces
w
ith
additional
to
a
r
m
ature
vol
t
age
c
ont
rol
me
thods
.
T
he
s
peed
o
f
DC
m
o
t
o
r
i
s
con
t
ro
lled
P
I
con
t
roller
as
d
on
or
i
n
t
h
is
w
o
r
k
.
Usi
ng
M
a
t
l
ab
s
i
mulation
and
pract
ical
m
easu
r
emen
ts
,
Terco
DC
m
o
t
or
s
pee
d
c
o
n
t
r
ol
i
s
ach
iev
e
d
in
t
his
wo
rk.
Th
e
resu
lt
s
tha
t
o
bt
ained
f
r
om
M
atl
a
b
sim
u
la
t
i
on
c
i
r
cuit
is
a
pp
eared
app
r
ox
im
atel
y
sim
ilar t
h
at
obtained
by
practi
cal c
o
n
n
ectio
n.
K
eyw
ord
s
:
Arm
a
ture control
DC Mot
o
r
D
C
m
ot
or
con
t
r
ol
Field
co
n
t
ro
l
P
I
contro
l
l
er
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
A
li N
. H
am
oodi,
Departm
e
nt
of
Pow
e
r T
echnic
a
l
En
gine
eri
n
g,
Tec
h
n
i
c
a
l
C
o
lle
ge of En
g
i
ne
e
r
i
ng
,
N
o
rther
n
Tec
h
n
i
c
a
l
U
ni
ver
s
it
y,
M
osul,
Ira
q.
Em
ail:
alih
ig
h
v
o
l
t
a
ge
@
y
ah
o
o
.
c
om
1.
I
N
TR
OD
U
C
TI
O
N
Bac
kgro
u
nd,
c
o
n
tro
l
s
y
s
tem
is
d
e
a
l
i
ng
w
i
th
c
on
t
r
o
lli
n
g
a
p
ort
i
o
n
o
f
a
n
e
n
vir
onm
en
t
cal
l
e
d
(
s
y
s
tem
pla
n
t)
i
n
order
t
o
e
m
it
des
i
red
prod
uc
ts
f
or
s
oc
ie
ty.
T
h
e
des
i
g
ni
ng
o
f
an
e
ff
ect
iv
e
con
t
ro
l
sy
st
e
m
r
e
q
ui
re
d
pri
o
r
i
n
form
ati
o
n
o
f
p
l
a
n
t
.
O
n
e
of
t
he
e
n
g
i
n
ee
ri
ng
pri
n
c
i
pl
e
s
a
pp
l
i
c
a
t
i
o
ns
i
s
D
C
m
o
t
or
[
1].
F
o
r
a
l
o
ng
t
ime
,
w
i
de
s
pee
d
o
f
D
C
m
otors
i
n
t
he
i
n
d
u
s
t
r
y
c
on
t
r
ol
a
rea
due
t
o
m
a
n
y
properties
such
a
s,
h
igh
response
perform
ance
h
i
gh s
t
art
t
o
r
que
,
l
ine
a
r
co
ntr
o
l.
est.
[
2].
The
spe
e
d
of
D
C
m
ot
or
i
s
do
nor b
y
thi
s
r
elati
o
nshi
p
:
∅
(1
)
F
r
om
a
a
b
ove
e
qua
t
i
o
n
,
t
h
e
s
p
eed
i
s
c
o
nd
i
tiona
l
re
l
a
t
e
d
w
i
t
h
t
h
e
func
tio
nal
vol
ta
ge
V
,
Φ
an
d
Ra
.
T
h
e
a
r
t
i
cl
e
d
e
si
g
n
at
e
s
t
h
e
M
at
l
a
b
/
Si
mu
l
i
n
k
o
f
D
C
m
o
t
o
r
sp
e
e
d
c
o
n
t
ro
l
te
c
h
n
i
que
obv
io
us
ly
a
rm
ature
c
o
n
t
r
o
l
[3].
D
C
m
o
t
o
rs
a
re
d
ivi
d
e
d
i
nt
o
c
o
mpo
u
n
d
w
o
u
nd,
s
e
r
ies
w
o
u
nd,
s
h
u
n
t
w
o
u
nd,
a
n
d
s
epa
r
ate
l
y
e
x
c
i
t
e
d
D
C
motors,
th
e las
t
t
ype i
s the
m
o
s
t
u
se
d at un
i
ver
s
itie
s [4]. The
m
ajor me
t
h
ods t
o ha
ve co
n
tr
ol
le
d
de
s
i
r
e
d spe
e
d
-
tor
que
c
h
a
rac
t
erist
i
c
s
o
f
se
pa
r
a
tel
y
e
xc
ite
d
D
c
m
ot
or
;
is
t
o
co
n
t
rol
t
h
e
ar
ma
tu
r
e
a
nd
fi
eld
w
i
nd
in
gs
f
e
d
w
i
t
h
varia
b
l
e
s
ourc
e
s
[
5].
The
m
o
t
o
r
fie
l
d
w
i
nd
i
n
g
is
liga
t
e
d
t
o
t
h
e
s
u
p
p
l
y
for
t
h
e
s
p
ee
d
c
ontr
o
l.
T
he
d
iver
s
spee
d
,
cre
d
i
b
il
ity
a
n
d
h
i
g
h
p
erf
o
rmance
a
re
t
hr
ee
cor
e
r
prop
ertie
s
o
f
a
n
e
l
e
ctri
ca
l
dri
v
e
s
y
ste
m
due
t
o
t
h
e
a
u
ste
r
e
con
t
ro
l
f
o
r
D
c
m
otor
(
low
h
o
r
s
e
p
o
w
e
r)
is
l
o
w
c
oast.
By
a
r
m
a
t
ur
e
a
n
d
fi
eld
con
t
r
o
l
,
p
a
l
ati
a
l
rang
e
of
v
ari
a
bl
e
spee
d
be
l
o
w
a
n
d
a
b
o
v
e
the
m
a
xim
u
m
spe
e
d
is
a
c
h
ie
ve
d
[6].
S
epar
a
tel
y
e
xi
t
e
d
D
C
m
otor
i
s
large
l
y
use
in
elec
tr
ical
d
ri
v
e
s.
M
a
n
y
s
o
rt
s
DC
m
otor
i
n
the
com
m
e
r
cial
c
e
n
ter
[
7
]
.
P
I
c
o
n
t
r
o
l
l
e
r
r
e
p
r
e
s
e
n
t
s
8
0
%
o
f
con
t
r
o
l
l
er
app
l
i
c
a
t
i
o
n
s
bec
a
u
s
e
it
is ea
s
y a
n
d
fl
uen
t
to
un
de
r
s
tan
d
[
8]. D
C
m
ot
or
i
s
m
o
re
a
de
q
u
a
t
e ap
pe
a
r
anc
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
119
–
12
6
12
0
use
d
f
or
m
a
n
ifol
d
spee
d
u
s
e
s
a
fter
a
p
art
i
cu
lar
t
i
me
f
or
t
he
s
a
ke
o
f
its
h
i
g
h
s
i
m
p
l
i
ci
ty,
a
ccur
a
te
s
pee
d
con
t
ro
l
l
er
a
n
d
co
ntr
o
l
l
a
b
le
t
or
que
[
9].
In
t
his
art
i
cl
e,
t
wo
p
r
o
b
l
em
s
a
r
e
ap
pe
are
d
.
The
first
pr
ob
le
m
repr
esente
d
b
y
softw
a
re
(
Mat
l
ab
/
S
i
m
ul
ink
)
p
rogr
am
a
nd
t
he
o
th
er
p
rob
l
e
m
r
ep
re
sent
ed
b
y
p
r
a
c
t
i
cal.
Th
e
software
p
r
o
b
l
e
m
i
s
tre
a
t
m
e
n
t
by
ca
l
c
u
l
a
t
in
g
the
bes
t
p
a
r
am
eter
s
o
f
P
I
c
o
n
t
r
o
l
l
e
r
a
n
d
t
h
e
p
r
a
c
t
i
c
a
l
p
r
o
b
l
e
m
i
s
so
l
v
e
d
ch
oos
i
n
g the
ri
gh
t
tor
q
ue tha
t
ap
p
l
i
e
d.
A
m
e
tho
d
is prop
ose
d
t
o
desi
gn a
P
I
c
on
t
r
o
ller
for
D
C
m
o
t
or spe
e
d
Ma
t
la
b pro
g
ram
m
i
ng proce
d
ures
are
u
s
e
d
t
o
o
b
ta
in
t
he
o
ptim
al
r
esp
o
n
s
e
for
D
C
m
otor
w
i
t
h
P
I
c
o
ntro
l
l
e
r
.
The
no
ve
l
m
e
tho
d
f
or
t
u
n
i
n
g
P
I
c
o
n
t
r
o
l
l
e
r
i
s
c
o
m
p
a
r
e
d
w
i
t
h
Z
i
e
g
l
e
r
-
N
i
c
h
o
l
s
f
i
r
s
t
m
e
t
h
o
d
.
I
n
o
r
der
t
o
s
e
l
ect
t
he
o
pt
i
m
um
v
a
l
ue
s
of
P
I
para
me
ters,
th
i
s
r
eq
uire
d
ap
pl
y
i
n
g
a
n
o
v
e
l
m
eth
o
d
.
Th
is
nove
l
m
et
h
od
ca
n
be
d
e
p
en
de
nt
a
s
e
a
s
y
t
o
implem
e
n
t,
s
i
m
pl
e
c
once
p
t
a
n
d
com
p
u
t
at
io
na
ll
y
ef
ficie
n
t
[1
0].
T
he
p
r
o
p
o
se
d
sol
u
tio
n
foc
u
s
o
n
d
es
ig
n
i
ng
t
h
e
P
I
c
ontro
l
l
er
w
i
t
h
D
C
m
o
t
o
r
a
nd
se
lect
i
n
g
t
h
e
o
p
t
i
mum
pa
ram
e
ter
s
o
f
P
I
c
o
n
t
r
o
l
l
e
r
i
n
o
r
d
e
r
t
o
k
e
e
p
o
n
t
h
e
ac
t
u
a
l
s
pee
d
n
ear
l
y
f
r
o
m
t
h
e
re
fer
e
nce
spee
d.
T
he
m
o
t
iva
t
io
n
of
u
s
i
ng
P
I
c
o
n
t
r
o
lle
r
co
m
e
s
from
t
he
f
ac
t
tha
t
th
i
s
t
y
p
e
of
c
o
n
tr
ol
l
e
r w
i
l
l
make
the
err
o
r appr
oac
h
t
o ze
ro (
e
limi
n
ate
er
ror).
2.
L
I
TE
R
A
T
URE
S
UR
VEY
S
a
leh
Eb
n
S
h
a
r
if
a
n
d
A
nam
i
ka
B
ose
[1
1].
The
s
e
a
u
t
h
ors
w
o
rk
o
n
s
epa
r
ate
l
y
e
x
ci
t
e
d
D
C
m
ot
or
h
as
para
me
ters
(
Ra=
1
Ω
,
La
=
0.0
5
H
,
J
=
0.01
kg
m2/s
2,
B
=
0.
0
000
3
N
m
s,
K
T
=
0
.
0
2
3
N
m
/
A
,
K
b
=
0
.
0
2
3
V
s
/
r
a
d
)
the
y
u
se
m
an
y
m
e
th
ods
t
o
stu
dy
t
h
e
D
C
m
ot
or
s
pe
e
d
r
espo
nse
o
n
e
these
m
e
th
o
d
s
is
P
I
c
ontr
o
ller
.
The
tra
n
sie
n
t
re
sp
o
n
se
v
a
l
ues
th
a
t
o
b
t
a
i
ne
d
from
PI
c
ont
r
o
ller
i
s
p
e
a
k
o
v
er
s
ho
o
t
tim
e
(20%
),
m
ax.
t
i
m
e
(0.1
s
ec)
, rise tim
e (
0
.01sec
) and se
tt
lin
g
tim
e (
1
sec)
.
U
jjw
al
K
uma
r
,
D
e
ve
n
d
r
a
D
oha
re
[
12].
The
s
e
au
th
ors
w
o
r
k
o
n
se
pa
r
ate
l
y
ex
ci
te
d
D
C
m
otor.
The
y
a
p
ply
th
ree
m
e
t
h
od
s
of
c
ontro
l
(Zi
e
g
l
er
N
i
c
h
o
l
s
r
es
pon
se,
P
I
c
o
ntro
ller
and
P
I
D
contr
o
l
l
er
)
a
nd
c
o
mpa
r
ed
betw
ee
n
the
s
e
ty
pes
an
d
t
h
e
e
ffe
c
t
o
n
D
C
m
otor
s
pe
e
d
r
esp
onse
c
urve.
The
trans
i
ent
r
e
sponse
v
a
l
ues
that
ob
ta
ine
d
f
r
o
m
P
I
c
ontro
l
l
er
i
s
pe
ak
o
ver
s
h
o
o
t
time
(1
9
%
),
m
ax.
t
im
e
(
1
.19sec)
,
r
i
s
e
tim
e
(
6
.01se
c
)
and
set
tli
ng t
i
m
e
(
34.1 se
c).
3.
SEPARATELY
E
X
CITE
D
DC MOT
O
R
3.1.
The
equiv
a
lent
ci
r
cu
i
t
.
Th
is
m
ot
or
i
nv
ol
v
e
s
of
i
nde
pe
nde
n
t
d
o
u
b
l
e
c
i
rcu
it,
a
rm
atu
r
e
con
trol
a
nd
fie
l
d
c
o
ntrol.
T
he
f
l
ux
of
e
x
ci
t
a
ti
on
f
i
e
l
d
i
s
g
e
n
e
rat
e
d
by
D
C
moto
r
f
i
e
l
d
w
i
ndi
ng
.
Th
e
c
u
rrent
i
s
flowing
into
a
r
m
ature
rotor
across
brus
hes
a
n
d
se
gm
ent
s
o
f
com
m
e
n
t
a
tor
.
T
he
i
n
t
era
c
t
i
on
b
e
t
w
e
en
t
h
e
se
gm
ent
s
a
nd
t
he
f
ie
ld
f
lux
w
i
l
l
p
r
oduc
e
the t
o
rq
ue
. F
igure
1 re
prese
n
ts
t
he
sepa
r
ate
l
y
exci
te
d D
C
m
otor
c
i
r
c
u
it
.
F
i
gure
1.
D
C m
o
t
o
r
sepa
rate
ly
e
xc
i
t
e
d
c
ircui
t
.
B
y
e
xc
i
tin
g
th
e
D
C
s
e
p
a
r
ate
l
y
mo
tor
w
i
th
a
n
ia
a
n
d
i
f
t
h
e
m
o
tor
w
il
l
p
r
od
uc
e
a
back
E
.M.
F
a
nd
p
r
ov
idi
n
g
a
b
a
l
a
n
c
e
lo
ad
t
o
r
qu
e
at
a
p
arti
c
u
l
a
r
sp
eed
.
B
eca
u
s
e
of
a
rm
atu
r
e
win
d
i
ng
is
s
epar
ate
d
from
fi
el
d
w
i
n
d
in
g
t
h
ere
for
a
r
m
a
ture
c
urrent
doe
s
n
o
t
d
epe
n
d
o
n
t
he
f
ie
l
d
c
ur
ren
t
.
The
arm
a
ture
c
urre
nt
i
s
hi
g
h
e
r
t
ha
n
the f
i
e
l
d cur
r
en
t [1
3
]
.
3.2.
Th
e
math
emat
i
c
a
l
m
od
el
Ki
rch
o
f
f
’
s
l
a
w
(KVL
) i
s
f
un
c
t
i
o
n
a
l to
t
he
a
r
m
a
t
ure circ
ui
t a
s
s
ho
wn
a
bove
i
t
can
b
e
see
n
i
n
Figu
re
1
,
the e
q
ua
t
i
o
n
s
can
b
e
calc
u
la
te
d as
[
14,
15]
:
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
PI contr
o
ller
for D
C
m
o
tor speed re
al
i
z
e
d
wit
h
sim
u
l
i
nk
a
nd prac
tica
l
… (Moham
m
e
d
A.
Ibra
him
)
12
1
(
2
)
Whe
r
e,
eg
=
Kv
if
ω
lea
d
s
to:
(3
)
U
s
ing
Lap
l
ac
e
t
r
ans
f
orm
for (2) w
ill g
i
ve
(4
)
As a resul
t:
(5
)
A
nd,
(
6
)
4.
SPEED CONTROL OF
DC MOTOR
P
I
C
ontrol
l
er
h
a
s
a
p
ro
port
i
ona
l
an
d
i
n
te
gr
al
t
e
r
m
i
n
t
he
f
or
w
a
r
d
p
a
t
h
,
t
h
i
s
c
o
n
t
r
o
l
l
e
r
h
a
s
t
h
e
a
b
i
l
i
t
y
to m
ake
st
e
a
d
y
-
state
er
ror e
qual z
e
ro.
The
bl
ock d
i
a
g
r
a
m
of
P
I
con
t
rol
l
er
i
s
show
n i
n
F
i
g
ur
e 2
[16].
Fi
g
u
re
2
.
P
I
-
r
e
p
r
e
s
e
n
t
a
tio
n
F
r
om
b
loc
k
d
i
a
gra
m
a
P
I
c
o
n
t
ro
l
l
e
r
,
one
i
s
i
nner
c
u
r
r
en
t
an
d
se
co
nd
i
s
s
pe
e
d
l
oo
p.
I
n
t
h
e
spe
e
d
l
o
o
p
err
o
r
re
presents
t
h
e
d
iffere
nc
e
be
t
w
ee
n
de
si
re
d
spee
d
a
n
d
actua
l
s
p
ee
d
[1
7].
A
c
c
o
rdin
g
t
o
[
18
-
2
0],
the
r
e
a
r
e
fo
ur
f
ac
t
o
r
s
must
be m
inimiz
e
d
by t
h
e
co
n
t
rol s
y
stem
:
Rise
t
i
m
e
(tr): repr
e
sents t
h
e
tim
e
perio
d
fro
m
10% to
90%
of
t
h
e
d
esi
r
ed
v
al
u
e
.
Over
sho
o
t
i
n
g:
r
epr
e
sents t
h
e
peak
v
a
l
ue
o
f t
h
e
respo
n
se
c
u
r
ve
d
ete
r
mine
d
from
the
desire
d
val
ue.
S
e
t
t
l
i
ng
(
t
ss):
re
presents
t
he
t
im
e
re
qu
i
r
ed
f
or
a
ct
ua
l
out
p
u
t
i
n
o
rde
r
t
o
r
eac
h
and
s
t
a
y
a
t
pe
rce
n
t
a
ge
(5%
or 2%).
Stea
dy- sta
te
er
r
or: r
e
pre
s
e
n
ts
t
h
e
di
f
fere
nce
betw
ee
n the
ac
tu
a
l
out
p
u
t
va
lue
and
t
h
e
de
si
re
d re
quired
ou
tpu
t
5.
T
H
E CHARACTERISTICS OF
PI CONT
R
OL
LER
PI
c
o
n
t
ro
l
l
e
r
i
s
u
sin
g
i
n
th
e
a
r
e
a
s
t
h
at
h
a
v
e
v
e
lo
ci
ty
o
f
th
e
s
yste
m
wi
t
h
i
n
l
ar
g
e
s
ca
le.
The
Kp
p
art
dec
r
ea
se
s
the
rise
t
im
e,
t
he
K
i
a
b
o
l
i
t
i
on
t
h
e
stea
d
y
-st
a
te
e
rr
o
r
only
b
u
t
it
p
e
r
hap
s
b
e
per
f
orm
e
d
t
o
w
orse
trans
i
en
t r
e
spo
n
se
.
PI
c
ontro
ll
er
i
s most
ly us
e
d
i
n
g
e
n
e
r
al a
pp
lica
t
io
ns of
D
C
m
otors [2
1
]
.
5
.
1
.
T
uning
P
I co
n
t
ro
ller
The
dire
c
t
w
a
y
i
s
de
pe
n
d
in
g
o
n
t
he
p
roce
s
s
m
ode
l
a
n
d
t
h
e
t
r
ansf
er
f
u
n
c
t
i
o
n
o
f
t
h
e
de
sired
c
l
osed
lo
op.
T
he
i
nte
r
ests
a
re
t
hat
perform
ance
t
a
k
e
s
a
re
i
nc
or
p
o
r
a
ted
s
q
u
are
l
y
t
h
ro
ug
h
t
h
e
de
scri
pt
io
n
o
f
c
lo
se
d
lo
op
trans
f
e
r
func
t
i
o
n
.
The
st
andar
d
m
ode
l i
s
gi
v
en i
n
F
i
g
u
r
e
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
119
–
12
6
12
2
F
i
gur
e
3.
S
t
a
nd
ar
d
close
d
-
l
oo
p
r
e
pr
e
s
e
n
ta
t
i
o
n
Th
e t
r
an
sfe
r
f
un
c
tio
n
is d
e
p
i
c
ted
a
s
:
(
7
)
U
s
in
g
Ta
y
l
or
s
er
i
e
s
expa
nsio
n
[2
2]
(
8
)
The
t
i
m
e
r
e
s
pons
e
a
n
a
l
ysis
o
f
a
gi
ve
n
s
y
s
t
e
m
c
a
n
b
e
f
o
unde
d
b
y
co
nv
er
ting
th
e
tr
a
n
sfer
f
unc
t
i
o
n
e
qua
t
i
o
n
t
o
t
h
e
chan
ge
a
b
le
i
n
te
r
m
s
of
t
ime
by
r
e
gar
d
in
g
i
nver
s
L
a
p
la
ce
tr
a
n
sf
or
m
a
tio
n
s
.
F
r
om
t
he
e
q
u
at
i
on,
m
u
lti
fa
r
i
ous
t
i
m
e
dom
ai
n
sp
ec
i
f
i
c
a
t
i
o
n
suc
h
a
s
p
e
ak
t
i
m
e
,
r
ise
t
i
m
e
,
d
e
l
a
y
t
i
m
e
and
se
tt
li
n
g
t
i
m
e
can
b
e
ca
l
c
ul
at
ed
[
23
].
6.
DC
M
OTO
R
C
ONT
R
O
L
B
ASED
P
I
CO
NTRO
LLER
P
I
c
ontr
o
l
l
er
c
ons
is
t
s
o
f
tw
o
t
e
r
m
s
(
p
r
o
p
o
r
t
i
ona
l
an
d
i
n
t
e
g
r
a
l
)
,
t
h
e
int
e
g
r
al
t
e
r
m
gi
v
e
s
t
h
is
t
yp
e
of
c
o
n
t
r
o
ller
a
c
h
ara
c
terist
ic
p
r
o
pert
y
to
e
l
i
min
a
te
t
he
s
t
e
a
d
y-st
a
t
e
er
ror
an
d i
m
pro
v
i
n
g
the spee
d
re
sp
o
n
se
c
urv
e
[
2
4
,
2
5]
.
A
n
a
do
pti
o
n
w
i
t
h
l
a
r
ge
capa
b
i
l
i
tie
s
c
a
l
l
f
or
d
i
f
f
e
r
e
n
t
PI
g
ai
n
s
t
h
a
n
an
a
do
pti
o
n
whi
c
h
w
o
r
k
s
at
a
f
i
xe
d
spee
d
[
2
6]
.
Am
ong
s
i
x
-
dec
a
de
s
a
go,
t
he
a
p
p
lic
a
tio
n
of
P
I
co
ntroller
w
i
th
D
C
mo
to
rs
w
ere
cap
a
ci
ou
s
use
d
t
ha
n
P
I
D
con
t
r
o
l
l
e
r
s
[
2
7
]
.
The
o
u
t
pu
t
o
f
t
he
P
I
c
o
n
t
r
o
lle
r
s
a
r
e
act
i
ng
as
t
he
m
odu
la
ti
o
n
i
n
d
e
x
o
f
the
c
o
nve
rters
bu
t
its
o
u
tp
ut
w
i
l
l
gi
ve
t
o
t
h
e
DC
m
ot
o
r
i
n
o
r
d
e
r
to
o
bt
ai
n
st
ea
dy
-st
a
t
e
r
e
s
p
on
s
e
f
or
t
his
mo
tor
s
p
eed
an
d
a
p
p
r
o
ac
he
d
f
r
o
m
r
e
fe
r
e
nc
e
va
lue
[2
8,
29]
.
F
i
g
u
r
e
4
r
epr
e
se
nts
a
n
a
lg
or
i
t
hm
o
f
D
C
m
otor
s
pe
ed
c
o
n
tr
ol
b
ase
d
P
I
co
n
t
ro
l
l
e
r.
T
h
e
p
ro
p
o
s
ed
P
I
co
n
t
ro
l
l
e
r
in
c
o
rp
o
r
at
e
d
w
i
t
h
D
C
m
o
t
or
i
n
or
d
e
r
to
k
e
e
p
o
n
a
c
t
ua
l
spee
d
nea
r
ly
t
h
e
re
f
e
re
n
c
e
sp
eed
F
i
gur
e
4.
A
lgo
r
it
hm
p
r
o
ce
ss
des
i
g
n
f
low
c
ha
r
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
PI
contr
o
ll
e
r
f
o
r D
C
m
o
t
o
r spee
d re
al
ize
d
wit
h
sim
u
link
a
nd pr
ac
t
i
ca
l …
(
M
oham
m
e
d A.
I
b
ra
him
)
12
3
7.
MAT
L
A
B
REPRESENT
A
T
ION
F
i
gur
e
5
r
e
pr
e
s
ent
s
t
he
d
ia
gr
am
o
f
the
M
a
tla
b
simu
lat
i
on
o
f
P
I
c
o
n
t
r
o
ll
e
r
o
f
D
C
m
o
t
o
r
.
F
i
g
u
r
e
5
. Modeling
o
f DC mo
t
o
r
co
n
t
rol
s
y
stem
7
.
1
.
O
p
en
Loo
p
pro
p
er
ties
Ter
c
o
D
C
m
otor
s
pe
ci
fica
tio
n
i
s
g
ive
n
i
n
Ta
b
l
e
1,
t
he
c
ur
ve
f
i
t
t
i
n
g
i
s
de
pic
t
e
d
i
n
F
i
gur
e
6.
Ta
ble
1.
D
esc
r
i
p
ti
on
of
t
er
co
D
C
motor
P
a
ra
m
e
te
rs
S
t
a
n
d
a
r
ds
Ra
La
Jm
Bm
Kb
R
a
t
e
d
s
p
eed
0.
25
Ω
60.
81
m
H
0.
012
kg.
m
2
0
.
020
4
N
.
m
.
s .
r
a
d
-1
10
V.
s.
ra
d
-1
1500
r
.
p.
m
F
i
gur
e
6.
O
pen
loo
p
t
or
q
u
e
–
spe
e
d
cur
v
e.
7.
2.
C
l
osed
l
o
o
p
ch
ar
act
e
rist
ics
P
I
f
a
c
tor
s
e
nha
nce
m
e
n
t
the
sp
e
e
d
r
e
spo
n
se
c
ur
ve.
This
u
p
g
r
a
de
c
an
b
e
se
en
a
s de
p
i
c
t
e
d
i
n F
i
gure
7.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
119
–
12
6
12
4
F
i
gur
e
7.
I
mpr
ove
me
n
t
s
pee
d
r
esponse
w
i
t
h
t
i
m
e
(
K
p=
7.
2,
K
I
=
10
0)
7.
3.
Prac
t
i
cal
r
e
su
lt
T
h
e
exp
e
ri
ment
al
t
o
r
qu
e
–
spe
e
d
r
el
ati
o
n
s
hip
i
s
p
ra
cti
call
y
i
mp
l
e
me
n
t
e
d
w
i
t
h
Ter
c
o
D
C
m
otor
a
s
i
n
F
i
g
u
r
e
8
.
T
he
r
e
l
at
ion
s
h
i
p
be
tw
e
e
n
t
o
r
q
ue
a
n
d
s
pee
d
f
or
d
at
a
gi
v
e
n
in
p
r
e
viou
s is d
epicted
in
Figu
re 9
.
F
i
gur
e
8(
a,
b
,
c
,
d
)
.
T
e
r
c
o
s
yst
e
m
conne
c
t
i
on.
Fi
g
u
r
e 9
.
P
ra
c
t
i
c
al
to
r
qu
e–
sp
eed
c
h
a
ra
ct
e
r
i
s
ti
cs
The
r
e
lat
i
ons
h
i
p
betw
ee
n
tor
q
ue
a
nd
s
p
e
e
d
is
g
ive
n
i
n
F
i
gur
e
10
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
PI
contr
o
ll
e
r
f
o
r D
C
m
o
t
o
r spee
d re
al
ize
d
wit
h
sim
u
link
a
nd pr
ac
t
i
ca
l …
(
M
oham
m
e
d A.
I
b
ra
him
)
12
5
F
i
gur
e 1
0
.
Practi
c
a
l
t
orq
u
e
– spee
d c
u
r
v
e
8.
RESU
L
T
S
A
ND DIS
C
U
S
S
I
ON
I
n
t
h
i
s
pa
pe
r
,
P
I
c
ontr
o
lle
r
use
d
t
o
fi
n
d
t
he
s
u
ita
b
l
e
per
f
or
m
a
nce
of
D
C
m
o
t
o
r
spee
d
c
o
n
t
r
o
l
sys
t
e
m
.
F
i
g
u
r
e
(
6)
i
l
l
u
s
tr
ate
s
t
he
s
pe
ed
r
e
s
p
onse
s
o
f
t
h
e
se
par
a
te
l
y
e
x
ci
te
d
D
C
m
otor
d
r
i
ve
w
ith
P
I
c
o
nt
r
o
ll
er
,
the
c
o
n
s
t
a
n
t
o
f
P
I
c
o
n
t
r
o
l
l
e
r
K
p
=
7
.
2
a
n
d
K
I
=
1
0
0
,
g
i
v
e
t
h
e
b
e
s
t
r
e
s
ult
s
f
or
c
ons
ta
nt
s
pee
d
.
The
tr
ans
i
en
t
pe
r
f
or
m
a
nc
e
of
t
hi
s
ca
se
c
an
b
e
show
n
in
T
ab
le
2
.
Tab
l
e
2.
T
r
a
nsi
e
nt
p
e
r
f
o
r
m
a
n
c
e
r
esults
Ri
s
e
time(s)
Ma
x.
t
i
m
e
(
s)
O
ve
r
s
hoot
(
%)
S
e
ttl
ing ti
me
0
.
01
se
c
0.
02
sec
9.
638
%
0.
2
se
c
9.
CONCLUSION
F
r
om
t
he
r
e
s
ults,
the
P
I
-
c
ontr
o
l
l
er
s
o
l
ve
t
he
p
r
o
b
l
em
s
of
l
a
r
ge
d
i
s
tu
rb
an
ce
a
nd
n
oi
se
d
u
r
ing
ope
r
a
ti
o
n
p
r
o
c
e
sser
by
e
r
a
dic
a
tin
g
en
f
o
r
c
e
d
o
sc
i
l
la
ti
o
n
s
a
n
d
st
ea
d
y
s
ta
te
e
r
r
o
r
subseq
ue
nt
i
n
oper
a
t
i
o
n
of
P
I
-
c
o
n
t
r
o
ller
.
The
simu
la
ti
on
res
u
l
t
s
a
r
e
appr
ox
im
ate
l
y
s
i
m
ilar
to
t
h
a
t
o
bta
i
ne
d
fr
om
t
he
p
r
a
ctica
l
m
ea
sur
e
m
e
nts.
Fro
m
t
h
e
f
in
al
t
a
b
l
e
th
e
sp
eed v
al
u
e
s remai
n
c
o
n
st
ant
as
res
p
e
c
t
t
o
i
nc
r
e
a
s
e
in
t
he
t
or
q
u
e
val
u
es.
No
mencla
tures:
V
:
so
ur
ce
vol
ta
g
e
(
V)
.
N
: sp
ee
d
(r
p
m
)
i
: cur
r
ent
of the
a
rm
ature
(A).
R
: resi
stan
ce o
f
th
e
armatu
re (Ω).
Φ
: f
l
ux
(
web
)
.
K
:
pr
o
por
t
i
ona
l
f
i
xe
d.
i
: cur
r
ent
of the
f
iel
d
(
A).
L
:
self
i
nduc
ta
nc
e
of
t
he
a
r
m
atu
r
e
(
H
).
e
g
:
b
ac
k
E
M
F
of
t
he
a
r
m
a
t
ur
e
(V
).
ω
: ang
u
l
ar
vel
oc
it
y (
r
ad/s).
K
v
:
vo
l
t
a
g
e
c
ons
ta
nt
(
V
.
s/
r
a
d)
.
Td
:
t
o
t
a
l
t
or
que
(
N
.
m)
.
J
: m
o
me
nt
o
f
in
e
r
ti
a
(
k
g
.
m
2
).
B
:
fr
i
c
t
i
on
fac
t
or
(
N
.
m
/
r
a
d/s)
.
REFERE
NC
E
S
[1]
Ma
no
j
Go
go
i
“P
rop
o
r
tion
a
l
-
i
n
t
e
g
ra
l-d
e
riva
tiv
e
(
P
I
D)
c
o
n
trol
le
r
design
f
or
r
obus
t
stabi
lity
o
f
arbit
r
ary
order
pl
ant
s
w
i
t
h
tim
e-del
a
y
and
addi
ti
ve
u
ncert
a
int
y
,
”
M
aster
thesis,
W
i
chi
ta
S
tate
U
ni
versit
y,
201
0
[2]
R
Om
ar
A
.
Im
ran
,
W
isa
m
N
ajm
Al
-Di
n
A
bed
,
A
li
N
.
J
b
arah
“
S
p
eed
c
o
n
trol
o
f
un
iv
e
r
sa
l
mo
tor
,
”
I
n
t
e
r
n
at
i
o
na
l
Jo
ur
nal
of
P
o
we
r
El
ec
t
r
o
n
i
c
s a
n
d
Drive S
y
st
ems (
I
JPED
S
)
,
vol.
10,
n
o
.
1
,
pp
.
4
1
-4
7,
M
ar
201
9
.
[3]
A
d
itya
P
r
atap
S
in
gh
, et
a
l
.
,
“S
p
eed
C
on
tro
l
o
f
D
C
M
ot
or
u
si
ng
P
i
d
Co
n
t
ro
ll
er
B
ased
o
n
M
a
t
l
ab
,”
International
Co
nf
e
r
ence o
n
Recent
T
r
en
ds
in
Ap
plied
Sci
e
nces
with
E
n
g
i
neer
ing A
pplicati
ons
,
v
o
l
.
4
,
n
o
.
6,
201
3
.
[4]
Gu
oq
ia
ng
C
he
n
a
n
d
Xia
n
g
u
a
n
g
Sh
a
n
g,
“
S
i
mu
la
tio
n
u
s
e
d
i
n
e
d
uca
t
io
n
f
o
r
a
sepa
r
a
t
e
ly
e
xcit
ed
D
C
motor,”
Wor
l
d
T
r
an
sactio
ns on
En
gi
neer
ing a
n
d
T
echno
lo
gy E
ducati
o
n
,
v
o
l
.
1
2,
no.
1,
2
01
4
.
[5]
A
l
i
Beki
r
Y
ild
iz
,
“Elect
rical
e
qu
iv
a
l
ent
circuit
b
a
s
e
d
mo
del
i
n
g
a
n
d
a
n
a
l
y
s
i
s
o
f
d
i
r
e
c
t
c
u
r
r
e
n
t
m
o
t
o
r
s
,
”
El
ectr
i
cal
P
o
wer
and
E
n
ergy System
s 43
,
p
p
. 1
04
3–
10
47
,
2
0
1
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
119
–
12
6
12
6
[6]
Vitk
ramaraj
a
n
Jam
b
u
l
i
n
g
a
m
,
“
P
o
s
i
tio
n
cont
rol
o
f
D
c
m
o
t
o
r
usi
n
g
p
i
c
ontrol
l
er,
”
I
n
te
r
n
a
t
io
na
l J
o
ur
na
l of
En
gi
neeri
ng Devel
opm
ent
an
d
R
e
sea
r
ch
, v
o
l
. 4
,
n
o
. 2
, 2
01
6.
[7]
Al
a
Al
d
i
en
A
w
o
uda
, et
al.
,
“
S
peed
c
on
tro
l
o
f
D
C
m
ot
or
u
sing
P
I
c
on
trol
ler”
IJ
CSMS
(
I
n
t
e
r
na
tio
n
a
l
J
o
u
r
na
l o
f
Com
put
er S
c
ien
ce
&
Ma
na
gemen
t
Stu
d
i
e
s),
vo
l
.
15
,
n
o
. 0
6,
20
1
5
.
[8]
M.
V
.
Ra
m
e
sh
,
J.
A
ma
rna
t
h,
S
.
Ka
m
a
ksha
ia
h
a
n
d
G.
S
.
Ra
o
“
S
p
e
e
d
co
nt
rol
of
b
ru
sh
les
s
D
C
m
o
to
r
b
y
u
si
ng
f
u
zzy
lo
gi
c P
I
c
ontro
lle
r
,
”
ARPN Jo
urn
a
l
o
f
E
n
g
i
neer
ing a
n
d
Ap
plied
Sc
ien
ces
,
v
o
l
. 6
, no
. 9,
Sep 2
0
1
1
.
[9]
Manj
usha
P
at
il,
“
Mode
lling
and
simulat
i
on
o
f
dc
d
rive
u
sing
P
I
and
P
I
D
co
nt
roller,”
In
ternat
io
nal Jou
r
n
a
l
o
f
Inn
o
va
tive R
e
se
a
r
ch
in El
ectr
o
n
i
cs, El
ectro
n
i
cs, Inst
rumen
t
atio
n
,
an
d Co
n
t
ro
l
E
n
gi
neer
in
g
,
vo
l
.
2
, no
.
12
, 2
01
4
.
[10]
Ab
id
a
o
un
H
.
s
h
all
a
l1
,
Raw
a
a A.
K
arim
2,
Osam
a
Y
.
A
l
-Raw
i
3
“A no
ve
l
me
th
od
f
o
r
t
u
n
i
ng
P
I
D
c
o
n
trol
le
r
,
”
Di
y
a
l
a
Jou
r
n
a
l o
f
En
g
i
n
eeri
n
g
Sci
e
nces
,
vo
l.
0
6
,
n
o
.
0
1,
p
p
.
6
2
-
74
,
M
a
r
2013
.
[11]
S
a
leh
Ebn
S
h
arif
1
and
An
amika
Bo
se2
“
P
e
r
f
o
rm
ance
com
p
aris
on
o
f
P
I
a
n
d
I
P
c
o
n
t
r
o
l
l
e
r
i
n
s
p
e
e
d
c
o
n
t
r
o
l
o
f
D
C
mo
to
r
,
”
E
u
r
o
p
e
an
Jour
na
l o
f
Adv
a
nces
in
En
gi
ne
eri
n
g
an
d
Tech
no
lo
gy
,
v
o
l
.
4
(
1
2
),
p
p
.
8
88-8
9
5
,
2017
.
[12]
Ujjw
a
l
K
u
m
ar,
D
e
ven
d
ra D
ohar
e
,
“
Sep
a
ratel
y
ex
c
ited
D
C
m
o
t
or s
pe
ed
c
ont
rol
of
usi
ng
vari
o
u
s
t
u
n
in
g co
nv
enti
onal
con
t
ro
llers
,
”
Intern
atio
na
l R
e
search Jo
ur
na
l of
E
n
g
i
n
eerin
g a
nd Techn
o
l
o
g
y
(
I
RJ
ET
),
vol.
0
2
,
no.
08,
N
ov
20
15
.
[13]
M
o
h
d
K
hai
r
ul
A
k
l
i
b
in
A
b
G
h
an
i,
“
Devel
o
p
m
ent
of
P
ID
c
u
rrent
c
on
t
rol
f
o
r
DC
m
otor
u
sing
a
rduino"
Mast
er
t
hesi
s,
Unive
r
siti Tun Hussien Onn
Ma
l
ays
i
a, J
u
l
y,
2014.
[14]
M
d
A
k
r
am
A
h
m
ad,
K
a
m
a
l
K
i
sho
r
,
P
a
nkaj
Ra
i
,
“
S
p
eed
c
o
n
tro
l
o
f
a
D
C
m
o
t
o
r
us
in
g
con
t
rollers
,
”
Aut
o
m
a
tion,
Control and
Inte
lligent
Sys
t
ems, acis
.s
.
201
40
20
6
0
1.
1
1
,
I
S
S
N
:
2
3
2
8-5
5
9
1
,
N
ov
20,
2
014
.
[15]
Ga
fa
ri
A
.
Ade
p
o
j
u
,
Ism
a
il
A.
A
de
ye
mi,
Oluw
a
d
ola
p
o
S.
O
ni
,
“Ap
p
l
i
catio
n
o
f
f
uzzy
l
o
g
ic
t
o
the
sp
eed
c
on
trol
o
f
DC
m
otor
,”
Int
e
rn
ation
a
l Jou
r
n
a
l
o
f
En
g
i
neer
ing
T
r
en
ds
an
d
T
ech
no
log
y
(
I
JETT)
,
v
o
l.
15
, n
o.
5
, Se
p
20
1
4
.
[16]
Ujjw
a
l
K
u
m
ar,
D
e
v
e
nd
ra
D
oh
a
r
e,
“
s
e
p
a
ratel
y
e
x
c
i
t
ed
d
c
m
o
t
o
r
s
p
e
ed
c
on
trol
o
f
u
s
i
n
g
v
a
riou
s
tuni
ng
c
o
n
v
e
nti
onal
con
t
ro
llers
,
”
Intern
atio
na
l R
e
search Jo
ur
na
l of
E
n
g
i
n
eerin
g a
nd Techn
o
l
o
g
y
(
I
RJ
ET
)
,
vol,
0
2
,
no.
08,
N
ov
-201
5
,
[17]
P
r
agy
a
J
ain,
et
a
l
.
,
“Co
m
pa
ra
tiv
e
a
n
a
l
ysis
o
f
P
I
,
PID
a
n
d
IP
c
on
trol
le
r
sc
h
e
me
s
fo
r
con
t
ro
lli
n
g
s
peed
o
f
a
DC
M
O
TOR” Int
ern
a
t
i
o
n
al
J
ou
rnal o
f
Elect
rical and
El
ectronics
En
g
i
n
eers, v
ol
.
9
,
n
o
. 0
1,
J
an
2
0
1
7
[18]
Ahm
e
d
M.
A
h
m
ed,
et al.
,
“
B
rushl
e
ss
D
C
m
o
tor
speed
c
on
tro
l
u
si
ng
both
P
I
c
on
troller
an
d
f
u
zzy
P
I
co
nt
roll
er,”
In
te
rn
at
io
na
l J
o
urna
l o
f
Co
mp
u
t
e
r
Ap
p
l
ic
a
t
ion
s
,
v
o
l.
1
09
no
. 10
,
J
an 2
01
5.
[19]
Tay
,
Ten
g-Tio
w;
I
ven
M
a
reel
s;
Jo
h
n
B.
M
o
o
re,
“H
ig
h
p
e
rf
orm
a
nce
co
nt
rol,
”
Birkh
äus
er
,
pp.
93,
199
7.
[20]
Og
ata, K
a
t
s
uhiko, “
Dis
c
rete-ti
m
e con
t
ro
l s
y
stems,”
P
r
e
n
ti
ce-Hal
l,
I
S
B
N
0-1
3
-2
16
1
0
2
-
8,
pp.
3
4
4
,
19
87
[21]
Mo
hd
A
z
r
i
Bin
Ab
d
M
u
ta
lib,
“
S
pe
e
d
c
o
n
tro
l
o
f
DC
m
otor
u
s
i
n
g
PI
con
t
rol
l
er,”
M
ast
e
r
t
h
es
is
,
Uni
v
ers
i
ti
Mal
a
ysia
P
a
han
g
,
M
ay
,
2008
[22]
M
a
so
od
Nazir,
“
Desig
n
o
f
P
L
C
bas
e
d
s
p
eed
c
on
tro
l
o
f
DC
m
otor
u
s
in
g
PI
c
on
t
r
olle
r,”
In
t
e
rn
a
t
io
nal
Jo
urn
a
l
of
Sci
e
ntifi
c
a
nd
T
e
c
h
ni
cal
Ad
van
c
e
m
ent
s
,
vo
l.
4,
no
. 1,
pp
.
5
-
8
, 2
01
8.
[23]
D
Vim
a
l
a
keerth
y,
“
Tim
e
r
es
pons
e
anal
ysis
o
f
D
C
m
o
t
or
u
sing
arma
t
u
re
c
o
n
trol
m
etho
d
a
n
d
it
s
p
e
rfo
r
m
a
nce
im
p
r
ove
m
e
n
t
u
sin
g
P
ID
c
on
troll
e
r,
”
E
u
r
o
p
e
an Jo
urn
a
l
of A
d
vances i
n
En
gin
eeri
n
g
a
n
d
T
ech
no
log
y
,
v
o
l
.
2
(6
),
pp
.
5
6-61
,
2
0
1
5
.
[24]
R.
N
ag
ara
j
an
, et
a
l
.
,
“
C
hop
per
f
e
d
s
p
eed
c
o
n
t
r
o
l
o
f
D
C
m
o
t
o
r
u
si
ng
P
I
co
nt
roll
er,
”
Jou
r
n
a
l
o
f
El
ectr
i
cal an
d
El
ectro
n
i
cs
E
ngin
eerin
g (IO
S
R
-JEEE)
,
v
ol.
11,
no.
3
,
pp.
6
5
-
69
, M
ay
2
01
6.
[25]
Ujjw
a
l
K
u
m
ar,
Deven
d
re,
“
S
eparatel
y
excit
e
d
DC
m
o
t
o
r
s
p
eed
c
ont
rol
o
f
u
sin
g
v
ario
us
t
un
ing
co
nv
enti
on
al
con
t
ro
ller,
”
Int
e
rna
t
i
o
n
a
l Res
e
arc
h
Jou
r
n
a
l of En
g
i
neer
ing
an
d
Tech
no
lo
gy
,
v
o
l
.
0
2
,
n
o
.
08,
No
v
2015.
[26]
R.
N
ag
arajan,
et al.
,
“
C
ho
pper
Fed
S
p
eed
C
on
trol
o
f
D
C
M
o
t
o
r
Usi
ng
PI
C
o
n
t
r
oll
e
r,
”
IOS
R
Jou
r
n
a
l
of Electr
i
cal
an
d
Elect
ronics
En
gi
neeri
ng (
I
OS
R-JE
EE)
,
vol.
11
,
n
o
.
3
,
p
p
.
6
5
-6
9,
M
ay
2
0
16.
[27]
V.
M
.
Ven
k
at
eswara
R
ao,
“
P
erf
o
rm
an
ce
an
aly
s
is
o
f
sp
e
e
d
cont
rol
of
D
C
moto
r
usi
n
g
P,
P
I,
P
D
an
d
P
I
D
con
t
ro
llers
,
”
Intern
atio
na
l
Jo
urn
a
l
of E
ngineer
in
g R
e
sear
ch &
T
e
ch
no
lo
gy (
I
JERT)
, vo
l
.
2
, n
o.
5,
M
a
y
2
0
1
3
[28]
R.
N
ag
arajan
,
et a
l
.
,
“
I
m
p
l
e
m
e
n
t
a
t
i
o
n
o
f
c
h
o
p
p
e
r
f
e
d
s
p
e
e
d
c
o
n
t
r
o
l
o
f
s
e
p
a
r
a
t
e
l
y
e
x
c
i
te
d
DC
m
otor
u
sing
P
I
con
t
ro
ller,
”
Int
e
rna
t
i
o
n
a
l Jou
r
na
l
Of En
gin
eeri
ng
An
d Co
mputer S
c
i
e
nce
,
vol
.
6
,
no.
3
,
p
p
.
2
0
631
-20
6
3
3
,
2
01
7.
[29]
Azi
z
A
hmed
, et
a
l
.
,
“
C
om
parati
ve
s
tu
dy
o
f
s
p
eed
c
on
trol
o
f
DC.
m
o
tor
us
in
g
P
I
,
IP
,
and
f
u
zzy
c
o
n
t
r
ol
ler,
”
Int
e
rna
t
i
o
n
a
l
Jo
u
r
n
a
l of Ad
vanced
Res
e
ar
ch i
n
Co
mp
uter
an
d
Comm
un
icatio
n
Eng
i
n
eeri
n
g
,
vol.
2,
no.
7
,
J
ul
2
013
Evaluation Warning : The document was created with Spire.PDF for Python.