Design and Implementation of IMC Controller for DC Motor Speed Control

Abstract

All the closed loop control system requires the controller for improvement of transient response of the error signal. Though the tuning of PID controller in real time is bit di cult and moreover it lacks the disturbance rejection capability. In order to compensate these internal design problems, internal model control (IMC) based tuning approach has been developed. The analytical method based on IMC principle for the design of PID controller is also developed. The IMC has a single tuning parameter to adjust the performance and robustness of the controller. The tuning method is very e cient in controlling the overshoot, stability and the dynamics of the speed-control system of the DC motor. The resulting structure of the control system is capable of controlling a fast dynamic process by integral control, which results in a striking improvement in performance. The PWM technique is used to vary the duty cycle from 0 to 100%. So that a variable amount of power is transferred to the load. Here, the set-point is set between 0 to 1023 and the output is fed-back to the system from tacho-meter when error is generated given to the ARM7 controller.