Task 2

We started having a voltaje controlled DC motor.

Time response to a nominal input voltaje value



Now we are asked to create a controller to have a response following a reference of 12 rad/s

We introduce a input voltaje directly proportional (1) to the error.





Last part of this task is to create a PD controller

Knowing that the maximun voltaje we can have is 24V, we give values to K to make the sistem
faster.
K_proportional = 2 (U_max=24)
Now we define D in order to make the system stable and without overshooting.
D = 1