Control of direct current motors with guaranteed speed maintenance in given bounds

This paper addresses the direct current (DC) motor control problem, ensuring that the motor’s speed remains within a given bounds. To solve this, a coordinate transformation is applied to convert the original problem into a control problem without constraints on the control variable. A feedback controller is proposed, with the control gain determined by solving an optimization problem. An experimental setup is introduced to validate the proposed control algorithm. Two cases are proposed for testing, and the experimental results show that the algorithm ensures the motor’s speed stays within the given set by the designer.