Comparative study of the speed robust control of a DC motor

Three controllers are implemented on a laboratory prototype of a DC motor. The DC motor has a dead zone that is partially compensated by a proposed algorithm. A robust stabilizing controller is designed for a Linear Time Invariant (LTI) nominal plant and its free parameter is fixed solving a mixed sensitivity criterion. Also, a state feedback controller with guaranteed cost is synthesized for a Linear Parametric Varying (LPV) plant. Finally, an Integral Sliding Mode (ISM) controller is designed for the same purpose. The experimental results allow to compare the performance of the three controllers.