9.3 Motor position control with PID

Motor position control is similar to the velocity control described in Chapter 8, but with one significant difference: the transfer function model of the motor includes an integrator, a \(1/s\) factor that is effectively integrates the angular velocity to give an angular position output. The transfer function models for the target electromechanical systems in the preceding chapters have angular velocity outputs, so simply including an integral factor \(1/s\) yields an angular position. The block diagram for our position control system is shown in Figure 9.5, where the plant \(G_P\) includes the integrator.

As before, our approach for a system with a voltage amplifier differs significantly from one with a current amplifier.

9.3.1 Controlling with a voltage amplifier

The electromechanical system model from Section 5.1 with a voltage …