Delay-margin design approach on a DC motor speed-control system with a single plant delay

For a known delay value τ̅ present in the loop of a DC motor speed-control system, an approach is presented here for this system in order to compute the system´s controller gains that create marginal stability in the system precisely for τ̅. These gains which guarantee system stability for all delays less than τ̅ are then verified experimentally. Numerical analysis is then performed to select the optimal gains rendering shorter settling time in the experiments, which also closely match with the simulations.