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Controllability and Observability Analysis of DC Motor System and a Design of FLC-Based Speed Control Algorithm

Journal of Robotics and Control (JRC) · Vol. 3 No. 2 (2022) · hlm. 227–235

DOI
10.18196/jrc.v3i2.10741
ISSN
2715-5072, 2715-5056
Terbit
2022-02-05
Penerbit
Universitas Muhammadiyah Yogyakarta
Bahasa
eng

Abstrak

DC motor is an electrical motor widely used for industrial applications, mostly to support production processes. It is known for its flexibility and operational-friendly characteristics. However, the speed of the DC motor needs to be controlled to have desired speed performance or transient response, especially when it is loaded. This paper aims to design a DC motor model and its speed controller. First, the state space representation of a DC motor was modeled. Then, the controllability and observability were analyzed. The transfer function was made based on the model after the model was ensured to be fully controllable and observable. Therefore, a fuzzy logic controller is employed as its speed controller. Fuzzy logic controller provides the best system performance among other algorithms; the overshoot was successfully eliminated, rise time was improved, and the steady-state error was minimized. The proposed control algorithm showed that the speed controller of the DC motor, which was designed based on the fuzzy logic controller, could quickly control the speed of the DC motor. The detail of resulted system performance was 2.427 seconds of rising time, 11 seconds of settling time, and only required 12 seconds to reach the steady state. These results were proved faster and better than the system performance of PI and PID controllers.

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  • Université Hassan 1er
  • Muhammadiyah University of Yogyakarta
  • Politeknik Perkapalan Negeri Surabaya
  • Minia University
  • Universitas Muhammadiyah Palembang
  • Islamic Azad University, Tehran
  • Islamic Azad University Yasuj
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Rekan penulisOrganisasiArtikel bersama
Alfian Ma’arifUniversitas Ahmad Dahlan4
Afif Zuhri ArfiantoPoliteknik Perkapalan Negeri Surabaya2
Kunal KunalGuru Gobind Singh Indraprastha University2
Abdul LatifSultan Agung Islamic University2
Hendro Agus WidodoPoliteknik Perkapalan Negeri Surabaya2
Mahmoud A. MossaMinia University2
Prisma MegantoroUniversitas Airlangga1
Andrei WidjanarkoUniversitas Gadjah Mada1
Elsayed T.HelmyNational Institute of Oceanography and Fisheries1
Yosi AprianiUniversitas Muhammadiyah Palembang1
Wiwin Armoldo OktavianiUniversitas Muhammadiyah Palembang1
Anish PandeyKIIT University1
Dhiya Uddin RijalusalamMuhammadiyah University of Yogyakarta1
Nia Maharani RaharjaMuhammadiyah University of Yogyakarta1
Sugiyarta SugiyartaAfiliasi tidak diketahui1
Reza AlayiIslamic Azad University, Tehran1
Yaser EbazadehIslamic Azad University, Tehran1
Ahmed Kadhim HadoUniversity of Warith Al-Anbiyaa1
Bashar S. BasharAl-Nisour University1
Musaddak Maher Abdul ZahraAl-Mustaqbal University1
Galang P. N. HakimMercu Buana University1
Diah SeptiyanaUniversitas Muhammadiyah Tangerang1
Mahmoud ZadehbagheriIslamic Azad University Yasuj1
Rahim IldarabadiHakim Sabzevari University1
Mehdi AnsarifardIslamic Azad University Yasuj1
Wahyu CaesarendraUniversiti Brunei Darussalam1
Faikul UmamUniversitas Trunodjoyo Madura1
Muhammad FuadUniversitas Trunodjoyo Madura1
Azeddine LoulijatUniversité Hassan 1er1
Rachid HabachiUniversité Hassan 1er1
Abdellah BoulalUniversité Hassan 1er1
Sarah AbboudUniversité Hassan 1er1
Hamid ChojaaSidi Mohamed Ben Abdellah University1
El Alami SemmaUniversité Hassan 1er1
Ibram Y. FawzyMinia University1

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Sumber metadata: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, pertama di-harvest 9 Nov 2026, terakhir terlihat 9 Nov 2026.
Metadata asli (oai_dc) 
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	<dc:title xml:lang="en-US">Controllability and Observability Analysis of DC Motor System and a Design of FLC-Based Speed Control Algorithm</dc:title>
	<dc:creator>Suwarno, Iswanto</dc:creator>
	<dc:creator>Finayani, Yaya</dc:creator>
	<dc:creator>Rahim, Robbi</dc:creator>
	<dc:creator>Alhamid, Jassim</dc:creator>
	<dc:creator>Al-Obaidi, Ahmed Ramadhan</dc:creator>
	<dc:subject xml:lang="en-US">Motor Dc</dc:subject>
	<dc:subject xml:lang="en-US">State Space</dc:subject>
	<dc:subject xml:lang="en-US">Fuzzy Logic Controller</dc:subject>
	<dc:description xml:lang="en-US">DC motor is an electrical motor widely used for industrial applications, mostly to support production processes. It is known for its flexibility and operational-friendly characteristics. However, the speed of the DC motor needs to be controlled to have desired speed performance or transient response, especially when it is loaded. This paper aims to design a DC motor model and its speed controller. First, the state space representation of a DC motor was modeled. Then, the controllability and observability were analyzed. The transfer function was made based on the model after the model was ensured to be fully controllable and observable. Therefore, a fuzzy logic controller is employed as its speed controller. Fuzzy logic controller provides the best system performance among other algorithms; the overshoot was successfully eliminated, rise time was improved, and the steady-state error was minimized. The proposed control algorithm showed that the speed controller of the DC motor, which was designed based on the fuzzy logic controller, could quickly control the speed of the DC motor. The detail of resulted system performance was 2.427 seconds of rising time, 11 seconds of settling time, and only required 12 seconds to reach the steady state. These results were proved faster and better than the system performance of PI and PID controllers.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Muhammadiyah Yogyakarta</dc:publisher>
	<dc:date>2022-02-05</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.umy.ac.id/index.php/jrc/article/view/10741</dc:identifier>
	<dc:identifier>10.18196/jrc.v3i2.10741</dc:identifier>
	<dc:source xml:lang="en-US">Journal of Robotics and Control (JRC); Vol. 3 No. 2 (2022): March; 227-235</dc:source>
	<dc:source>2715-5072</dc:source>
	<dc:source>2715-5056</dc:source>
	<dc:source>10.18196/jrc.v3i2</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.umy.ac.id/index.php/jrc/article/view/10741/7306</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2022 Journal of Robotics and Control (JRC)</dc:rights>
</oai_dc:dc>