DC Motor Angular Position Control by using fractional PID Controller

DC Motor Angular Position Control by using fractional PID Controller

Santosh N. Sharma

Faculty of Department of Electrical Engineering, Indian Institute of Technology, Delhi, India 

Subhash Khanb

Faculty of Department of Electrical Engineering, Indian Institute of Technology, Delhi, India


In this paper, a fractional order PID controller is investigated for a position servomechanism control system considering actuator saturation and the shaft torsional flexibility. The Arduino microcontroller board is mainly used to control the 12V brushed Namiki DC motor. L298N dual H-bridge motor driver is applied to execute the pulse width modulation (PWM) signal and to drive the direction control. The implementation code is considered to generate the PWM output using PID (proportional, integral and derivative) tuning algorithms. According to the PID tuning method, errors are not only solved but also taken to its minimal value with very low amount of error oscillations. In this work, step input, sine input and potentiometer input are tested to analyze the system performance. The results were clearly seen, the controller output response curve is very well-matched to approach the desired position. But, it has a few errors when the orientation of changes angle because they are not fast to reach the desired position. Therefore, friction compensation according to the velocity effect is considered. After compensating the friction effect, the PID output results were very precise to get the desired angle. This stability performance using PID controller can be applied for robotic arm position control system and other industrial applications.


DC-Gear motor, L298 Motor Driver, PID, PWM control

To cite this article

Sharma, S. N., & Khanb, S. (2018). DC Motor Angular Position Control by using fractional PID Controller, International Journal of Engineering, IT and Scientific Research (IJEISR). Vol. 2, No. 1, pp.1-8. Doi:10.5281/zenodo.2727810



Copyright © 2018 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.



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