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Control of DC Motor Using Integral State Feedback and Comparison with PID:
Simulation and Arduino Implementation

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DOI: 10.18196/jrc.25122

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Journal of Robotics and Control (JRC)
Volume 2, Issue 5, September 2021
ISSN: 2715-5072 DOI: 10.18196/jrc.25122 456

Control of DC Motor Using Integral State

Feedback and Comparison with PID:
Simulation and Arduino Implementation
Alfian Ma’arif*, Naufal Rahmat Setiawan
Department of Electrical Engineering, Universitas Ahmad Dahlan, Yogyakarta, Indonesia
Email: alfianmaarif@ee.uad.ac.id
*Corresponding Author

Abstract—The Direct Current (DC) motor is widely applied simulation since the real hardware system's implementation
in various implementations. The main problem in the DC motor is difficult to be done.
is controlling the angular speed on the specific reference. This
research then proposed an integral state feedback design for However, the PID Controller also has some weaknesses.
tracking control in DC motor, with Simulink Matlab simulation Any slightest change in setpoint will affect the whole
and the Arduino hardware implementation. The results will be system's performance. Hence, it is not suitable to use the PID
compared with the implementation of the PID controller. The controller for tracking control in the DC motor.
integral state feedback controller can handle the system to reach
the setpoint with good performance in the simulations, even with The alternative of a controller with simple and easy-to-
changing different poles and setpoints. In the hardware design characteristics for tracking control in DC motor is the
implementation, the current sensor (INA219) and encoder integral state feedback. Integral state feedback has been
sensor are used since all state variables need to be calculated. implemented in many systems such as PMSM [29][30][31],
Based on the result, the controller can reach the setpoint stably AC Induction Motors [32], Micro positioner [33], Level
with oscillation. Similar results are showed in simulations with Control of two tank System [34], Quadcopter [35], magnetic
different setpoints. Compared with the PID Controller, the
levitation system [36][37], Boost Converter [38], buck
integral state feedback controller has a better response with
faster rise time and faster settling time.
converter [39], Flyback converter [40], DC-DC Converter
[41], inverted pendulum [42], [43] wireless power transfer
Keywords—DC motor, Arduino, Integral State Feedback, [44] and inverter [45]. The integral state feedback has some
Angular Speed, PID Controller advantage such as simple structure, easy to design, it can be
implemented in a multi-input multi-output system, and it has
I. INTRODUCTION good performance [46][47].
A Direct Current (DC) motor is a device that converts
However, the hardware implementation of integral state
electrical power to mechanical power. DC motor also has
feedback is very challenging because all state variables in the
many types such as brushed DC Motor [1], servo motor [2],
system need to be calculated. This research then proposed an
stepper [3], and Brushless DC (BLDC) Motor [4]. Its
integral state feedback design for tracking control in DC
applications are widely varied, such as balancing robot [5][6],
motor, with Simulink Matlab simulation and Arduino
line follower robot [7][8], maze solving robot [9], pendulum
hardware system implementation. The results of the system's
[10], Furuta pendulum [11], and electric vehicles [12][13]. It
responses will be compared with the implementation of the
is more popular than AC motors because it has low power,
PID controller [48].
good performance [14], and easy-to-control characteristics
[15]. The research is written as follows. The first section is the
introduction. The second section is the method that consists
The main problem in DC motor is controlling the angular
of the DC Motor Modelling, Integral State Feedback Control,
speed on the specific reference, even with uncertainty or
and Hardware Implementation Configuration. The third
disturbance happens [16][17]. The angular speed can be
section is the result and discussion that consists of Simulink
controlled by adjusting the motor's power supply. It sounds
Matlab Simulation Result, Hardware Implementation Result,
simple, yet is very challenging considering the whole
and Comparison with PID Controller. The last section is the
system's performance. Thus, a controller is needed.
conclusions.
Some controllers can be implemented to the DC motor. PI
Controller [18], PID Controller [19][20], ANFIS Based II. METHODS
Hybrid P-I-D Controller [21], Fractional Order PID [22], A. DC Motor Model
Fuzzy Logic Controller [23], Model Reference Adaptive Some modeling methods to determine the DC motor
Control (MRAC) [24], Integral state feedback [25], have been model are the physical and identification system models [49].
implemented to DC motor system. The most popular among It can be determined in transfer function or state-space
them is the PID controller since it is quite simple and easy to representation.
be implemented in a real hardware system [26][27][28].
Those previously mentioned researches were done only in the

Journal Web site: http://journal.umy.ac.id/index.php/jrc Journal Email: jrc@umy.ac.id

Journal of Robotics and Control (JRC) ISSN: 2715-5072 457

The state-space model of the DC motor model can be

𝑥 = 𝐴𝑥 + 𝐵𝑢 (9)
made through mechanical and electrical analysis. The torque
(𝑇) generated by the DC motor is
𝑦 = 𝐶𝑥 (10)
𝑇 = 𝐾𝑡 𝑖 (1)
𝑢 = 𝑢𝐼 + 𝑢𝑆𝐹 = 𝑒𝑘𝐼 − 𝐾𝑥 (11)
where, 𝐾𝑡 is the constant factor, 𝑖 is the armature current.
The back-EMF is 𝑒̇ = 𝑟 − 𝑦 = 𝑟 − 𝐶𝑥 (12)

𝑒 = 𝐾𝑒 𝜃̇ (2)
𝑒 = ∫ 𝑒̇ 𝑑𝑡 (13)
where, 𝐾𝑒 is the constant factor.
The torque constant and back-EMF constant have the where 𝑥 is the state vector of the plant, 𝑒 is the output of
same unit as 𝐾𝑡 = 𝐾𝑒 . Thus, 𝐾 will be used to represent them. integrator, 𝑒̇ is the deviation between the reference and the
The DC motor can be modeled then by using the second feedback, 𝑢 is the control signal, 𝑦 is the output signal, 𝑟 is
newton's law and Kirchhoff voltage law as the reference signal, 𝑘𝐼 is the integral parameter constant, 𝐾
is the state feedback constant, 𝐴 is the constant matrix, 𝐵 is
𝐽𝜃̈ + 𝑏𝜃̇ = 𝐾𝑖 (3) the constant matrix, and 𝐶 is the constant matrix.
𝑒̇ 𝑒 𝑢𝐼 𝑢 𝑥
𝑑𝑖 𝑟 + 𝑘𝐼 + 𝑥̇ = 𝑥 + 𝑢 𝑦
𝐿 + 𝑅𝑖 = 𝑉 − 𝐾𝜃̇ (4)
𝑑𝑡
𝑢𝑆𝐹
−
where 𝐽 is moment inertia, 𝑅 is the resistance, 𝐿 is the
inductance, 𝑏 is the friction constant. −1
The DC motor model can be written in the state-space Fig. 1. System Block Diagram
form as
In the integral state feedback, all of the system state
𝑏 𝐾 variables must be known. Thus, it needs sensors for
𝑑 𝜃̇ − 0
𝑗 𝐽 ̇
[𝜃] + [1] 𝑢
calculating the unknown states. Else, the observer can be used
[ ]= (5)
𝑑𝑡 𝑖 𝐾 𝑅 𝑖 as an alternative.
𝐿
[− 𝐿 − ]
𝐿 C. Hardware System Design
The system structure design to control the DC motor
𝑦 = [𝜃̇ 𝑖 ]𝑥 (6) using the integral state feedback is shown in Figure 2. There
are some components such as an encoder to calculate the
Define the 𝑥1 as the angular speed, 𝑥2 as the current. angular speed, the current sensor to calculate the current,
Hence, the state-space model can be written as Arduino as the microcontroller, and a motor driver to drive
the motor supply.
𝑥̇ = 𝐴𝑥 + 𝐵𝑢 (7)

Encoder Counter
𝑦 = 𝐶𝑥 (8)
Sensor
PWM Driver
where Arduino
Motor
Current
𝑏 𝐾
− 0 Sensor I2C Analog Voltage
𝑥1 𝐽 𝐽
𝑥 = [𝑥 ] 𝐴 = 𝐵 = [1] 𝐶 = [1 0]
2 𝐾 𝑅 Current DC
𝐿
[− 𝐿 − ]
𝐿 Motor
Angular Speed

B. Integral State Feedback

Fig. 2. System Block Structure Diagram
The integral state feedback controller has other names:
full state-feedback [50][51], servo state feedback There are some types of motor drivers such as L298,
[52][53][54], servo controller [32][55][56][57], or state- BTS7960, and H-Bridge IRF. For the best result, BTS7960
feedback integral [39]. The scheme is shown in Figure 1. It and H-Bridge are recommended. The Arduino gives a control
consists of the integral control 𝑢𝐼 and the state feedback signal to the motor driver using Pulse Width Modulation
control 𝑢𝑆𝐹 . (PWM). The motor power supply voltage is 24V. The DC
The equation can be written as Motor used is PG28 with the encoder sensor included. The

Alfian Ma’arif, Control of DC Motor Using Integral State Feedback: Simulation and Arduino Implementation
Journal of Robotics and Control (JRC) ISSN: 2715-5072 458

encoder sensor has a 3.3volt supply; thus, it needs a buck 0.8488 second, the settling time is 1.5056 second, and the
converter. The current sensor used is INA219 with I2C overshoot is 0%.
communication. There are other electrical current sensors,
B. Hardware Implementation
such as ACS712, but they cannot read the electrical current
well, especially if there is an electrical current surge. The section is about hardware implementation using
Arduino Uno. The system configuration setup is shown in
III. RESULT AND DISCUSSION Figure 4. The DC motor, current sensor, Arduino Uno R3,
and motor driver can also be seen.
A. Simulink Matlab Simulation
The section is about DC motor simulation in the Simulink
Matlab. The parameter of the DC motor is as follows. The
moment of inertia (𝐽) is 0.01kgm^2, the motor friction (𝑏) is
Current sensor
0.1Nms, the EMF constant (𝐾) is 0.01V/rad/s, the motor
torque constant (𝐾) is 0.01Nm/Amp, the resistance (𝑅) is
DC motor
1Ohm, and the inductance (𝐿) is 0.5H.
The state-space model of DC motor is

−10 1 0
𝑥̇ = [ ] 𝑥 + [ ]𝑢 (14)
−0.02 −2 2
Driver Motor Arduino Uno R3

𝑦 = [1 0]𝑥 (15) Fig. 4. Hardware implementation setup configuration.

The response system result using the parameter controller The first experiment is to examine the effect of the
in Table 1 is shown in Figure 3. The x-axis is time in seconds, integral control parameter (𝑘𝐼 ) addition. The response system
and the y-axis is the angular speed in radian per minute result using the parameter in Table II is shown in Figure 5.
(RPM). The system's response performances listed in Table I
are rise time, settling time, and overshoot. 60

60 50
angular speed (rad/s)

50
40
angular speed (rad/s)

40
30
Reference Speed Reference Speed
30
1st Response 20 1st Response
2nd Response 2nd Response
20
3rd Response 10 3rd Response
4th Response
10
5th Response 0
0 20 40 60 80 100 120
0 time (miliseconds)
0 5 10 15 20
time (seconds) Fig. 5. System's response with various integral control parameters.

Fig. 3. Simulation results with various poles. TABLE II. CONTROLLER PARAMETER

TABLE I. POLE PLACEMENT Table Column Head Response Systems

rise settling
𝑲 = [𝒌𝟏 𝒌𝟐 ] 𝒌𝑰 Overshoot
Gain System Response time time
Pole rise settling over- [0 0] 0.2 13 43 4
𝑲 = [𝒌𝟏 𝒌𝟐 ] 𝒌𝑰
time time shoot
[-1 -1 -1] [36.49 -4.5] -0.5 4.2372 7.5181 0 [0 0] 0.4 6.1667 45 4

[-2 -2 -2] [25.99 -3] -4 2.1397 3.7866 0 [0 0] 0.6 3.8333 47 4

[-3 -3 -3] [18.49 -1.5] -13.5 1.4489 2.5426 0

[-4 -4 -4] [13.99 0] -32 1.0651 1.9354 0

Based on Figure 5 and Table II, it can be seen that the
integral controller affects the rise time and settling time. The
[-5 -5 -5] [12.49 1.5] -62.5 0.8552 1.5635 0 bigger integral controller parameter gives a faster rise time
and settling time.
In Figure 3, the reference signal or setpoint used is 50 The second experiment is to examine the effect of the
rad/s. It can be seen that the proposed controller can control state feedback control parameter
the DC motor to reach the reference signal. The rise time is

Alfian Ma’arif, Control of DC Motor Using Integral State Feedback: Simulation and Arduino Implementation
Journal of Robotics and Control (JRC) ISSN: 2715-5072 459

𝐾 = [𝑘1 𝑘2 ]. The system responses using the controller references are used. Overall, the system can give good
parameter in Table III are shown in Figure 6. performances with various references used. The integral state
feedback has a robust characteristic because it always gives
60
the same performances with different setpoints.
50 D. Comparison with PID Controller
angular speed (rad/s)

In the section, the integral state feedback (ISF) will be

40 compared with PID Controller [58][59][60][61][62][63][64]
[65][66]. The result is shown in Figure 8. Setpoints or
30 references used are 50RPM and 100RPM.
Reference Speed
1st Response 120
20
2nd Response
3rd Response 100

angular speed (rad/s)

10
4rd Response
80
0
0 20 40 60 80 100 120
time (miliseconds) 60

Fig. 6. System's response with various state feedback control parameters.

40 ISF sp=50
TABLE III. CONTROLLER PARAMETER ISF sp=100
20 PID sp=50
Controller Parameter Response Systems
rise settling PID sp=100
𝑲 = [𝒌𝟏 𝒌𝟐 ] 𝒌𝑰 Overshoot 0
time time
0 20 40 60 80 100 120
[0.2 0] 0.6 4.6875 45 4
time (miliseconds)
[0.4 0] 0.6 6.0208 47 4
Fig. 8. Tracking control experiment. Integral state feedback results are
[0.4 0.2] 0.6 6.0417 46 4 compared with PID controller.

[0.4 0.2] 1 2.5417 45 4 Based on Figure 8, the integral state feedback has a better
system response than PID Controller. Visually, the time to
Based on Figure 6 and Table III, it can be seen that the reach the reference is faster than PID Controller.
state feedback controller affects the rise time and settling
time. The bigger state feedback controller parameter gives a IV. CONCLUSIONS AND FUTURE WORK
faster rise time and settling time. The research is about controlling DC Motor using integral
state feedback. The research was done by simulation and
C. Tracking Control
hardware implementation. In the simulation and hardware
In the section, the integral state feedback will be applied implementation result, the integral state feedback gave a good
with various references. The result is shown in Figure 7. performance while reaching the set point. From the tracking
Setpoints (SP) used are 50RPM, 100RPM, and 150 RPM. control result with different setpoints, integral state feedback
presented similar performance: the augmented system
performed with fast rising time and settling time with small
150 overshoot. Compared with the PID controller, the integral
state feedback had a better system response in tracking
angular speed (rad/s)

control at some setpoints.

100 Future works of the research are widely open in many

areas. The tuning parameter was still done using trial and
error. Thus it will need a method to determine the parameter
controller. An experiment with uncertainty and disturbance
50 sp=50 has not been done yet. Another challenging problem in
sp=100 applying the integral state feedback is that all states must be
sp=150 known. Hence, observers, such as minimum or full order
observers, can be applied to overcome this issue in the future.
0
0 20 40 60 80 100 120 The observer makes the augmented system will not need all
time (miliseconds) states to be known. Another possible future research is to
apply the Kalman filter to minimize the oscillation and noises
Fig. 7. Tracking control experiment result
in the output sensor. From a hardware perspective, it is also
Based on Figure 7, it can be seen that the integral state possible to conduct future research on controlling the DC
feedback can follow the reference (setpoint). The system motor's angular speed using the current sensor since it has
performed with similar characteristics when various

Alfian Ma’arif, Control of DC Motor Using Integral State Feedback: Simulation and Arduino Implementation
Journal of Robotics and Control (JRC) ISSN: 2715-5072 460

more stability while reading the measurement than using the of brushed DC motor using nonlinear method: Design and
experiment,” in Chinese Control Conference, CCC, 2016, vol. 2016-
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Alfian Ma’arif, Control of DC Motor Using Integral State Feedback: Simulation and Arduino Implementation

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