DC motor control using CDM based two-degree-of-freedom controller for desired tracking and disturbance rejection characteristics

This paper focuses on a design of two-degree-of-freedom (2DOF) controller by Coefficient Diagram Method (CDM) for position control of a DC motor. It is known that the 2DOF control system can be designed to meet both tracking and disturbance rejection performances, which are the most important for the position control system. Nevertheless, it requires tuning of many parameters. The CDM is an efficient method in designing the parameters of 2DOF controller based on the stability and the speed of the controlled system so that the desired performance criteria can be met. By the proposed design method, the parameters of 2DOF controller for a DC motor control system are obtained properly without any adjustment. Furthermore, the tracking and disturbance rejection performances are simultaneously designed. The results reveal the versatility of the CDM tuning technique in the position control of a DC motor.