OCHOA, Alexander Palacios. Controller with Full Order State Observer for a DC Motor utilizing dSPACE. []. , 7, 1, pp.6-14. ISSN 1390-6712.  https://doi.org/10.24133/maskay.v7i1.347.

This paper presents the design, simulation and implementation of two controllers with state observers for a DC motor with two masses. The first controller is a state feedback controller and the second is a proportional integral controller with state feedback. The design and simulation is realized in Matlab and the implementation is done using the controller module dSPACE DS1104. The dSPCE module is programmed through Simulink blocks using the C code generator Real-Time Workshop. The electromechanical system has five state variables, from which the motor angular position is controlled using full-order state observers. A comparison of the performance of the two controllers implemented considering over-impulse, steady state error and establishment time of the unit step response is performed. The integral proportional controller has the advantage of having a smaller steady-state error, while the controller without integral proportional control has a smaller establishment time.

: State variable feedback controller SVF; proportional - integral controller PI; state observer; DC motor.

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