Project - Speed Control of a Direct Current (DC) motor
% This file contains the design parameters to model a DC motor
J = 0.01; % Moment of inertia of the rotor in kg-m^2
X = 0.5; % 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 Nm/amp
Ra = 1.0; % Resistance of the armature circuit in ohms
La = 0.5; % Inductance of the armature circuit in henries
% Jacobian matrices
A(1,1) = 0.0; %df1/dx1 evaluated at x10, x20 and u0
A(1,2) = 1.0; %df1/dx2 evaluated at x10, x20 and u0
A(2,1) = 0.0; %df2/dx1 evaluated at x10, x20 and u0
A(2,2) = 0.01; %df2/dx2 evaluated at x10, x20 and u0
B(1) = 0; %df1/du evaluated at x10, x20 and u0
B(2) = 1; %df2/du evaluated at x10, x20 and u0
B=B(:); % coverting into a column vector
fn = 1.0;
wn = 2*pi*fn;
zeta= 0.5;
p1 = -zeta*wn+wn*sqrt(zeta^2-1);
p2 = -zeta*wn-wn*sqrt(zeta^2-1);
P = [p1;p2];
K = place(A,B,P);
Ki= 0.0;