Integral Retarded Velocity Control of DC Servomotors

This paper presents a delay-based control algorithm called the Integral Retarded (IR) controller, and its application to the velocity control of DC servomotors. The tuning of the IR controller uses a frequency domain analysis that generates the stability crossing boundaries in the parameter space corresponding to the controller gains, and the desired maximum exponential decay of the closed loop system. The paper also provides a study of the disturbance rejection properties of the IR controller. Results obtained using an experimental platform permits evaluating the performance of the proposed algorithm.