FO position control of a DC motor an experimental comparative study

This work compares the control performance of two embedded control systems for controlling the angular position of a DC servomotor with nonlinear load: an arm with variable mass. The first control system uses an IO PID (Integer order Proportional Integral Derivative) controller, while the second employs a FO (Fractional Order) PID controller. Those control systems are embedded via a cRIO (compact Reconfigurable Input Output) device. The HMI (Human Machine Interface) programs and the real-time control algorithms are written in the Lab VIEW-Mathscript language. Experimental results demonstrate that the FO PID control system performs better because the controlled arm position in a FO PID control system shows less settling time, less effort in the control signals, no peaks in the time-response of the position, and a better ability to reject disturbances, for example, when the load is hitting.