K. Anil Naik et al.

/ (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES

Vol No. 4, Issue No. 1, 092 - 096

Stability Enhancement of DC Motor using IMC

Tuned PID Controller
K. Anil Naik1 and P. Srikanth1
1
Department of Electrical Engineering,
NIT Hamirpur, Hamirpur, H.P., India
email: anilnaik205@gmail.com

 implemented and published their classical methods and also a

Abstract— In this paper PID controller with Internal Model
Control (IMC) tuning method for the DC motor is presented for
robust operation. The IMC has a single tuning parameter to
adjust the performance and robustness of the controller. The
proposed tuning method is very efficient in controlling the
overshoot, stability and the dynamics of the speed-control system
of the DC motor. The results of the IMC tuning method have
been compared in the midst of controller with singular frequency
(SF) based tuning and Ziegler-Nichols (Z-N) closed loop tuning.
A remarkable improvement in stability of the system has been
observed with IMC tuning justifying its applicability. Simulated
results given in the paper show the feasibility and versatility of
the IMC tuning technique in the DC motor.
Index Terms—Controller, Internal Model Control, DC motor,
Speed, Stability, Tuning.
I. INTRODUCTION
lot of research is done along the conventional PID controller
design [13]. A recent development of modern control system
enables us to combine the PID controller with various simple
control algorithms in a quick and easy manner to enhance the
control performance. However, the classic tuning methods
involved in PID controller suffers with a few systematic
design problems.
Hence, in order to compensate these internal design problems,
internal model control (IMC) based tuning approach has been
developed. Due to its simplicity, robustness, and successful
practical applications it gained a widespread acceptance in
designing the PID controller in process industries [14-18]. The
analytical method based on IMC principle for the design of
PID controller is also developed [19-20]. The resulting
structure of the control system is capable of controlling a fast
dynamic process by integral control, which results in a striking
improvement in performance. Its advantage is even being
implemented in many of the industries. However, it has been

T HE DC motors have been popular in the industry control

area for a long time, because they have many good
characteristics, for example: high start torque characteristic,
high response performance, easier to be linear control…etc.[1-
2]. The different control approach depends on the different
performance of motors. Because the peripheral control devices
are enough, there is the more extensive application in the
industry control system. Therefore, the DC motor control is
riper than other kinds of motors. Different types of controller
have been using in DC motors such as PI and PID controllers.
The main disadvantage of PI controller is steady state error is
more. And the most popular controllers used in industrial
processes is the Proportional Integral Derivative (PID)
controller [3]. The real strength of this kind of controller is its
simplicity to understand, explain and implement them [4].
The proportional integral derivative (PID) controller is the
most common form of feedback in the control systems. PID
control is also an important ingredient of a distributed control
system and as such these controllers come in different forms
[5-7]. And also due to its efficient and robust performance
with a simple algorithm, the PID (proportional, integral, and
derivative) controllers have been widely accepted in most of
the industrial applications [8-12]. Ziegler and Nichols have
found from the literature that the IMC-PID controller has not
yet been implemented in the DC motor speed control system.
Consequently, the present work is a step towards
implementing an IMC tuning based PID controller in DC
motor. The results with IMC tuned controller have been found
to outperform the SF and Z-N tuned PID controllers.
The paper is organized as fallows simple model of DC
motor is provided in section II. The IMC-PID controller is
explained in section III. Results and different plots (frequency
and time domain plots) are given in section IV. Finally
conclusions are drawn in section V.
II. SIMPLE MODEL OF A DC MOTOR
A simple model of DC motor as shown in Fig. 1. In this
model, the dynamics of the motor itself are idealized; for
instance, the magnetic field is assumed to be constant. The
resistance of the circuit is denoted by R and the self-
inductance of the armature by L. With this simple model and
basic laws of physics, it is possible to develop differential
equations that describe the behavior of this electromechanical
system. The relationships between electric potential and
mechanical force are Faraday's law of induction and Ampere’s
law for the force on a conductor moving through a magnetic
field.

ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved. Page 92

 K. Anil Naik et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 4, Issue No. 1, 092 - 096

 R K 
  b 1
d i   L L i  
  v (8)
dt    K m K f     L  app ( t )
  0
 
 J J 
i 
y (t )  0 1
   [0]vapp (t ) (9)

The transfer function model of the DC motor can be derived

Fig. 1 A simple model of a DC motor driving an inertial load
from state space model and given in eqn. (10)
The torque  seen at the shaft of the motor is proportional to Km
2 (10)
the current i induced by the applied voltage, LJs  ( RJ  LK f ) s  ( RK f  K m K b )
 (t )  K mi (t ) (1)
Where, K m the armature constant, is related to physical III. IMC-PID CONTROLLER
properties of the motor, such as magnetic field strength, the Equivalent the typical internal model structure to a single loop
number of turns of wire around the conductor coil, and so on. PID control structure, as Fig. 2. Where P(s) is the actual
process object being controlled, M(s) refer to the model of the
The back (induced) electromotive force, ve.m. f is a voltage process, and G(s) is the IMC primary controller, u refer to
proportional to the angular rate  seen at the shaft, output of internal model controller, r, y and d refer to the
ve.m. f (t )  Kb (t ) (2) input, the output and load disturbances, respectively, and
Gc(s) is the controller which can get the result of internal
where , K b the emf constant, also depends on certain physical model controlling structure after varying equivalently.
properties of the motor. Designed the IMC controller as eqn. (11),
The mechanical part of the motor equations is derived using
1
Newton's law, which states that the inertial load J times the G( s)  M ( s) f ( s) (11)
derivative of angular rate equals the sum of all the torques
about the motor shaft. The result is this equation,
1
d Where f (s)  is the realizable factor.
J    i   K f  (t )  K mi (t ) (3) s  1
dt
Where K f  is a linear approximation for viscous friction. G( s) 1
Gc ( s )   K c (1   Td s ) (12)
Finally, the electrical part of the motor equations can be 1  G( s) M ( s) Ti
described by
di
vapp (t )  vemf (t )  L  Ri (t ) (4)
dt
or, solving for the applied voltage and substituting for the back
emf,
vapp (t ) L di  Ri (t ) Kb (t ) (5)
dt
This sequence of equations leads to a set of two differential
equations that describe the behavior of the motor, the first for
the induced current, Fig.2 Equivalent the IMC to general control structure

di R K 1
  i (t )  b  (t )  vapp (t ) (6) Consider the plant model M(s) as a DC motor transfer function
dt L L L then
and the second for the resulting angular rate
Km
d 1 1 M (s)  2 (13)
  K f i (t )  K mi (t ) (7) LJs  ( RJ  LK f ) s  ( RK f  K m K b )
dt J J
State-Space Equations for the DC Motor given the two Substitute eqn. (13) in eqn. (12) and IMC- PID tuning
differential equations derived in the last section, now develop parameter are given as
a state-space representation of the DC motor as a dynamic RJ  LK f RK f  Km Kb LJ
KP  , KI  and K D 
system. The current i and the angular rate  are the two states K m K m K m
of the system. The applied voltage, vapp , is the input to the
system, and the angular velocity  is the output.

ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved. Page 93

 K. Anil Naik et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
IV. RESULTS AND DISCUSSION
A standard test model as considered is taken for stability
study of DC motor with IMC tuning controller. The test model
below shown is completely designed in SISO tool. Fig. 3
shows the block diagram of DC motor driving an inertial load.
The DC motor representation includes R= 2.0 Ohms, L= 0.5
Henrys, Km = 0.015 torque constant, Kb = 0.01 emf constant,
Kf = 0.2Nms and J= 0.02 kg.m^2.
Fig. 3 Block diagram of DC motor speed control system
To show the robustness of the DC motor speed controller
system with IMC tuning controller, various cases as given
below have been considered. The cases considered have been
simulated and verified in SISO tool MATLAB/SIMULINK
ver 7.6 [21].
Case a: Singular frequency based design tuning
Case b: Ziegler-Nichols closed loop design tuning
Case c: IMC based design tuning
It is mentioned here that the designed values are taken same as
have been provided in [21].
A. Singular frequency based design tuning
To get the singular frequency based design tuning the Fig.
3 is simulated in SISO tool. The frequency response for such a
system is computed using the linear approximation (Bode
plot). The magnitude and phase as a function of frequency of
such a system are plotted in Fig. 4. From the plotted graph the
gain crossover frequency  gc is 0.188rad/sec and phase
crossover frequency  pc is 0.988 rad/sec. The gain and phase
margins are Gm = 12.5dB and m = 72.8deg,  gc is less than
 pc since  gc should not be greater than  pc for stability of
the system. The speed controller of DC motor system with
singular frequency based design tuning is stable.
Fig. 4 Frequency response for Singular frequency based design tuning
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved.
Vol No. 4, Issue No. 1, 092 - 096
The step response of the PID controller system with
singular frequency tuning in time domain analysis is given in
Fig. 5. The whole simulation is done for 50s. The rise time Tr
= 9.87s, peak time and settling time Ts =15s for this case are
obtained.
Fig. 5 Responses of the system to a step input with Singular frequency
based design tuning
B. Ziegler-Nichols closed loop design tuning
To achieve such a system of speed controller PID
system, the Fig. 3 is simulated in SISO tool. For this system
also the frequency response is computed using the linear
approximation (Bode plot). The magnitude and phase as a
function of frequency are plotted and is as shown in Fig. 6.
From Fig. 6, it is determined that gain crossover frequency  gc
is 0.821rad/sec and phase crossover frequency  pc is
7.45rad/sec for this case. The gain and phase margins are Gm =
27.3dB and m = 74.7deg. Since, gc is less than  pc and
hence in this case also the DC motor speed control system is
stable.
Fig. 6 Frequency response for Ziegler-Nichols closed loop based
design tuning
The step response of the Ziegler-Nichols design tuning in
time domain analysis is as given in Fig. 7. The whole
simulation is done for 50s. Rise time Tr =8.89s, and settling
time Ts =16.3s are obtained.
Page 94
 K. Anil Naik et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Fig.7 Responses of the system to a step input with Ziegler-Nichols
closed loop based design tuning
A. Internal Model Control (IMC) based design tuning
This tuning design can be obtained when the Fig. 3 is
simulated in SISO tool. The magnitude and phase as a
function of frequency for this case are plotted in Fig. 8. It is
seen from the figure that gain crossover frequency  gc is
0.224rad/sec and phase crossover frequency  pc is 6.44rad/sec.
The gain and phase margins are Gm = 36.2dB and m =
85.5deg. Since  gc is less than  pc (phase crossover
frequency) then the magnitude and phase values of the bode
plot are more and positive. In this case the gain margin and
phase margin are more than SF and Z-N tuning methods and
hence the speed controller of DC motor system with IMC
tuning is more stable.
Fig. 8 Frequency response for IMC based design tuning
The step response of the IMC based design tuning in time
domain analysis is as shown in Fig. 9. For which the rise time
Tr = 1.89s, there is no peak time and peak overshoot %M p = 0
and settling time Ts =3.34s. In this case compare to SF and Z-
N tuning methods rise time and settling time are improved.
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved.
Vol No. 4, Issue No. 1, 092 - 096
Fig. 9 Responses of the system to a step input with IMC based
design tuning
Time and frequency domain responses have been
determined to investigate the effectiveness of the PID
controller in IMC design tuning. It has been determined that
the IMC tuning with controller provides the required stability
and performance specifications. The results show that the gain
and phase margins are significantly improved with 36.2dB
gain margin and 85.5o phase margin. These are obtained from
the frequency response of the open-loop system and are as
given in Fig.8. It is found from Fig. 8 that the phase margin is
significantly improved at the critical frequency of inter-area
modes between 0.224rad/sec and 6.44rad/sec. On the other
hand, 12.5dB and 27.3dB gain margins for the Singular
Frequency and Ziegler-Nichols tuning controllers are obtained
which are quite low compared with the IMC tuning controller.
Detailed results are as summarized in Table I.
The time domain results for closed loop system are
presented in Table II. Improved results have been obtained
with IMC design tuning controller. Generally, a lower rise
time and settling time are preferred for the better performance
of the system. From the Table II it has been seen that for SF
based tuning rise time is 9.78s and settling time is 15s, for Z-N
based tuning rise time is 8.89s and settling time is 16.3s and
for IMC tuning rise time is 1.89s and settling time is 3.34s.
From the above it is observed that when compare to SF and Z-
N tuning methods IMC tuning method obtained better settling
time and peak rise time, thereby justifying the suitability of the
IMC tuning for PID control DC motor speed system. Time
domain responses of all types of tuning methods PID
controllers with DC motor speed governing system
comparison are as shown in Fig. 10 for a step set-point speed
signal change.
Page 95
 K. Anil Naik et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 4, Issue No. 1, 092 - 096

REFERENCES
.
[1] Wang, J. B., Control of Electric Machinery. Gau Lih Book co., Ltd,
Taipei Taiwan, 2001.
[2] G. Haung and S. Lee, “PC based PID speed control in DC motor,”
IEEE Conf. SALIP-2008, pp. 400-408, 2008.
[3] Visioli A., "Tuning of PID controllers with fuzzy logic,” in IEE
Proceedings - Control Theory and Applications, 2001, Volume 148,
Issue 1, pp. 1-8.
[4] Zhang J., “Structural research of fuzzy PID controllers,” in Proc.
International Conference on Control and Automation, ICCA2005,
Northeastern University, Qinhuangdao Hebei China. 2005.
[5] D. Vrancic, B. Kristiansson, S. Strmcnik, and P. M. Oliveira, “Improving
performance/activity ratio for PID controllers,” Int. Conf. Control and
Automation, 2005, pp. 834-839.
[6] P. Kundur, Power system stability and control, McGraw-Hill, 1994.
[7] A. Khodabakhshian and M. Edrisi, “A new robust PID load frequency
controller,” Control Engg. Practice, vol. 16, pp. 1069-1080, 2008.
Fig.10 Responses of the system to a step input with all tuning algorithm [8] K. J. Astrom, H. Panagopoulos, and T. Hagglund, “Design of PI
controllers controllers based on non-convex optimization” Automatica, vol 34. pp.
585-601, 1998.
TABLE I [9] D. E. Seborg, T. F. Edgar, and D. A. Mellichamp, “Process dynamics
FREQUENCY DOMAIN RESULTS and control” John Wiley & Sons, Second edition, New York, 2004.
[10] S. Skogestad and I. Postlethwaite, “Multivariable feedback control
S F Based Z-N Closed IMC analysis and design” John Wiley & Sons, New York, 1996.
Specifications
Tuning loop Tuning Based Tuning [11] C. L. Smith, A. B. Corripio, and J. J. Martin, “Controller tuning from
simple process models” Instrumentation Technological, vol. 22, pp. 39-
Gain Margin 12.5 27.3dB 36.2dB
45, 1975.
[12] J. G. Ziegler and N. B. Nichols, “Optimum settings for automatic
Gain crossover controller, Transactions ASME, vol. 64, pp. 759-766, 1942.
0.188r/s 0.821r/s 0.224r/s
Frequency [13] O. Montiel, R. Sepúlveda, P. Melin and O. Castillo, “ Performance of a
simple tuned Fuzzy controller and a PID controller on a DC motor,”
Phase margin 72.8o 74.7o 85.5 o Procee. of IEEE (FOCI 2007), pp. 531-538, 2007.
[14] I. L. Chien, and Fruehauf, “Consider IMC tuning to improve controller
Phase crossover performance” Chemical Engineering Program, vol. 86, pp. 33-38,
0.988r/s 7.45r/s 6.44r/s 1990.
Frequency
[15] O. Aidan and Dwyer, “Handbook of PI and PID controller tuning rules”
Imperial College Press, London, 2003.
[16] I. G. Horn, J. R. Arulandu, J. G. Christopher, J.G. VanAntwerp, and R.
D. Braatz, “Improved filter design in internal model control”
TABLE II
Industrial Engineering Chemical Research, vol. 35, pp. 33-37, 1996.
TIME DOMAIN RESULTS
[17] Y. Lee, S. Park, and M. Lee, “Consider the generalized IMC-PID
method for PID controller tuning of time-delay processes”
S F Based Z-N Closed IMC Hydrocarbon Processing, 2006, pp. 87-91.
Specifications
Tuning loop Tuning Based Tuning [18] Y. Lee, S. Park, M. Lee, and C. Brosilow, “PID controller tuning for
desired closed-loop responses for SISO systems” AICHE Journal, vol
Rise time 9.78s 8.89s 1.89s 44, pp. 106-115, 1998.
[19] M. Morari and E.Zafiriou, “Robust Process Control” Prentice Hall,
Settling time (1%) 15s 16.3s 3.34s Englewood Cliffs, NJ, 1989.
[20] D. E. Rivera, M. Morari, and S. Skogestad, “Internal model control, 4.
PID controller design” Industrial Engineering Proceeding Design Deu.
vol. 25, pp. 252-258, 1986.
[21] MATLAB/SIMULINK ver. 7.6
V. CONCLUSIONS
A new robust IMC tuning based PID controller is proposed
for DC motor control system. The proposed tuning method
has been found to enhance the stability of the DC motor
system. Different cases have been considered and compared to
justify the suitability of the IMC tuning PID controller. From
Table I it is found that the gain margins IMC tuning controller
is 23.7dB higher compared with SF tuning controller and
8.9dB higher when compared with Z-N tuning controller,
similarly, rise time and settling time has improved with IMC
tuning controller.

ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved. Page 96