Optimal PD Angle Control Combined with Anti-Saturation Filter for DC Motor via Root Locus Analysis

Accurate angular control of DC motors is crucial in numerous industrial applications. The proportional-integral-derivative (PID) controller is widely employed for this purpose. However, conventional PID tuning techniques, such as trial-and-error, frequently result in overshoot and saturation issues, which degrade system performance. While advanced optimization algorithms like Genetic Algorithms and Particle Swarm Optimization enhance tuning precision, they demand stringent initial parameter settings and are unnecessarily complex for straightforward scenarios. This paper introduces a tuning method for proportional-derivative (PD) control using the root locus analysis. A filter is incorporated to mitigate saturation effects. The proposed method simplifies the tuning process, offering a low-complexity solution while ensuring optimal performance. A rigorous mathematical analysis is presented, including the application of transfer functions and the development of mathematical models, allowing adaptation to various scenarios. Simulation results in MATLAB confirm that the proposed approach enables parameter tuning with zero overshoot under non-saturation conditions. This research contributes a novel optimization strategy for DC motor angular control, reducing system complexity while enhancing robustness. The method is applicable to real-time industrial control systems and has the potential for wider use in motor control, providing substantial practical relevance.