A comparison between frequency domain and time domain controller synthesis: Position control of a DC motor

Different control analysis and design methods exist using either time domain or frequency domain. This paper explores the robustness of four control techniques, two using the frequency domain (PID and CRONE - French acronym of Commande Robuste d´Ordre Non Entier) and two using the time domain (State-feedback and SMC - Sliding Mode Control). All four techniques are applied on a position control for a DC motor, which is a linear system. The robustness is introduced through uncertainty in the system´s gain. The responses and performance of the different techniques are then presented and compared.