Autotuning of a DC Servomechanism using Closed Loop Identification

In this paper a methodology for automatic tuning of position controlled servomotors is presented. The key element is a novel closed loop identification technique where the loop is closed using a standard proportional derivative controller. Once the servomotors parameters are estimated they are employed for setting up a controller using linear quadratic regulator techniques. It is experimentally shown that within a few seconds the closed loop system is tuned