Table of Contents Author Guidelines Submit a Manuscript
Journal of Control Science and Engineering
Volume 2018, Article ID 6259049, 11 pages
Research Article

PID Control for Electric Vehicles Subject to Control and Speed Signal Constraints

1Department of Automation and Computing, CT, Federal University of Rio Grande do Norte, 59078-970 Natal, RN, Brazil
2Master of Engineering in Oil and Gas, Potiguar University, 59054-180 Natal, Brazil

Correspondence should be addressed to André Felipe O. de A. Dantas; rb.pnu@satnad.erdna

Received 1 June 2018; Accepted 19 July 2018; Published 1 August 2018

Academic Editor: Darong Huang

Copyright © 2018 Amanda Danielle O. da S. Dantas et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A PID control for electric vehicles subject to input armature voltage and angular velocity signal constraints is proposed. A PID controller for a vehicle DC motor with a separately excited field winding considering the field current constant was tuned using controlled invariant set and multiparametric programming concepts to consider the physical motor constraints as angular velocity and input armature voltage. Additionally, the integral of the error, derivative of the error constraints, and were considered in the proposed algorithm as tuning parameters to analyze the DC motor dynamic behaviors. The results showed that the proposed algorithm can be used to generate control actions taking into account the armature voltage and angular velocity limits. Also, results demonstrate that a controller subject to constraints can improve the electric vehicle DC motor dynamic; and at the same time it protects the motor from overvoltage.