Comparison between Compensated and Uncompensated PD with Cascade Controller Design of PMDC Motor: Real Experiments

In this paper, we compare two different kinds of position controllers, namely PD (both compensated and uncompensated PD) and Cascade controller (both compensated and uncompensated Cascade). SIMULINK software is used to implement lumped parameters estimation with UKF. The Proportional-Derivative (PD) controller design by root locus and Cascade controller design have been chosen for our feedback system, and coulomb friction as disturbance is taken into account in the estimation model. The aim of this paper is to find out which controller is better (both compensated and uncompensated PD controller vs. both compensated and uncompensated Cascade controller). Therefore, the objective is to show how useful the parameter estimation for controller design with compensation. Through comparing two position controller designs, the experiment results show that both Compensated Proportional Derivative (PD) controller and Cascade controller Design have much better performance than the Uncompensated ones.