Tuning of an optimal PID controller with iterative feedback tuning method for DC motor

Tuning of PID controller parameters is one of the usual tasks of the control engineers due to the wide applications of this class of controllers in industry. In this paper the Iterative Feedback Tuning (IFT) method is applied to tune the PID parameters. The main advantage of this method is that there is no need to the model of the system, so that is useful in many processes which there is no obvious model of the system. In many cases this feature can be so useful in tuning the controller parameters. The IFT is applied here to tune the PID parameters. Speed control of DC motor was employed to demonstrate the effectiveness of the method. The results is compared with other tuning methods and represented the good performance of the designed controller. As it is shown, the step response of the system controlled by PID tuned with IFT has more robustness and performs well.