Application of fading-memory polynomial filters to the control of an electric motor

Recursive fading-memory polynomial (FMP) filters are used to support the frequency-domain design of digital lead/lag compensators, with two degrees-of-freedom (2-DOF) in a dc motor-control application. Digital proportional-integral-derivative (PID) and linear-state-space observer techniques are also applied for comparison. In this tutorial-style treatment, practical matters regarding system identification and discrete-time controller implementation, on a personal computer, are discussed.