Your goal is to implement a PID algorithm that is going to run on a Real-Time controller with a loop rate of 1000 Hz (0.001 second period).
If you replace the numeric values, you get the following transfer function: For the sake of simplicity consider a basic transfer function for a DC motor where effects such as friction and disturbances are being considered:ī is the Friction Torque Constant (1.8E-6 N-m-s) In this tutorial, we will design the velocity controller for a DC motor.
