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Mathematical Problems in Engineering
Volume 2017, Article ID 7348263, 11 pages
Research Article

Identification and Real Time Speed Control of a Series DC Motor

Departamento de Electrónica UAM-Azcapotzalco, Ciudad de México, Mexico

Correspondence should be addressed to Jesús U. Liceaga-Castro; xm.mau.cza.oerroc@cluj

Received 28 November 2016; Revised 22 February 2017; Accepted 28 February 2017; Published 27 March 2017

Academic Editor: Fazal M. Mahomed

Copyright © 2017 Jesús U. Liceaga-Castro 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.


The identification and real time speed control, without reverse motion, for a series DC motor is presented. The identification is performed using the transient response analysis of the mechanical and electrical subsystems of a series DC motor. A linearized model which does not include the magnetic saturation around the operating conditions is considered. Based on this model, a PI speed controller is designed. A well-known problem arising in this type of electrical motors is the singularity at zero speed. It is shown that, in spite of this inconvenience, the PI controller, together with an antiwindup scheme, presents adequate regulation and tracking performance. It is also shown that the control system can compensate for varying loads and the counter-electromotive force with acceptable levels of current consumption.