Comparative Study Between Classical Controllers and Inverse Dead Zone Control for Position Control of a Permanent Magnet DC Motor with Dead zone

In this work, a comparative study of three control strategies for the position control of a permanent magnet DC motor with dead zone is presented. The strategies analyzed are the classical PI controller, a new approach based on a linear controller with double integral effect, and the Inverse Dead Zone approach. Through the results here exposed it is shown that the new approach based on a controller with double integral effect results in a control system capable of achieving smaller position error, reducing the undesirable stick/slip effect without inducing high frequency oscillations or chattering in the control variable. In addition, and thanks to its linear nature, it is possible to determine stability and robustness of the resulting control system by means of the classical margins of gain and phase making this approach suitable for an engineering context