Project - Speed Control of a Direct Current (DC) motor

J = 0.01;    % Moment of inertia of the rotor in kg-m^2
B = 0.1;     % Motor viscous friction constant in N-m-s
Km = 0.01;   % Back emf constant in v/rad/s
Kt = 0.01;   % Motor torque constant in N-m/amp
Ra = 1.0;    % Resistance of armature circuit in ohms
La = 0.5;    % Inductance of the armature circuit in henries

PID values

REFRENCE SPEED

input refrence speed and out put speed

Zoomed

result

no oversood value

rise time is very less tr = 1.06