16th international conference on Sciences and Techniques of Automatic control
& computer engineering - STA'2015, Monastir, Tunisia, December 21-23, 2015
Design of Single Closed Loop Control for Chopper Fed DC Motor
Drive using IMC Principles
Boulbaba Guedri and Abdelkader Chaari
-
Abstract— In this paper, a simplified speed control design of
chopper fed Direct Current (DC) motor drive with single
feedback control structure is proposed. First, Internal-Model-
Control (IMC) is used to control speed without closed loop
current control scheme. Then, an analytical method based on
IMC principles is applied to design a single-loop IMC controller
with a Proportional-Integral-Derivative (PID) form. Finally, a
comparative study has been done to highlight the benefits of the
newly developed designs over the conventional control structure
which has two PI controllers, one for controlling current and
another for speed. The simulation results indicate that our
proposed control schemes have good performance and
robustness with appropriate safety for the DC drive system
under steady and variable operating conditions, and in the
presence of motor parameter variations.
Keywords— DC motor drive; conventional control structure
with two closed paths; single closed loop in the DC control
scheme; internal model control strategy
I. INTRODUCTION
DC drives have long been considered as a backbone of
electric traction and gained wide acceptance in most industrial
applications due to their simplicity, efficiency, ease of
application, low cost, and good reliability. So, DC motors are
extensively used in variable-speed drives and position-control
systems [1], especially they are characterized by their
excellent control of speed for acceleration and deceleration [2,
3]. Furthermore, the fact that the power supply of a DC motor
connects directly to the motor field allows for precise voltage
control and assists speed and torque control applications. In
this context, speed control techniques in separately excited
DC motor are mainly designed by varying the armature
voltage or the field flux to achieve the desired speed [2, 4].
Thereby, researches studies reveal that there has been many
varieties of control schemes and lot of applications for speed
control of DC motors such as traditionally rheostatic armature
control method for low power DC motors, conventional PID
controller, fuzzy logic technique [5], constant power motor
field weakening controller based on load-adaptive multi-input
multi-output linearization technique for high speed regimes
[6], Non-linear Auto-Regressive Moving Average (NARMA-
L2) controller for the constant torque region [7], and so on.
Boulbaba Guedri is with the Electrical Engineering Department,
University of Tunis, the National Higher Engineering School of Tunis
(ENSIT), 5 Taha Hussein Street, Tunis, Postal Box 56, Bab Manara 1008,
Tunisia (corresponding author phone: +216 52 220 320; fax: +216
71 391 166; e-mail: boulbaba.guedri@gmail.com).
Abdelkader Chaari is with the Electrical Engineering Department,
University of Tunis, the National Higher Engineering School of Tunis
(ENSIT), 5 Taha Hussein Street, Tunis, Postal Box 56, Bab Manara 1008,
Tunisia (e-mail: assil.chaari@ esstt.rnu.tn).
978-1-4673-9234-1/15/$31.00 ©2015 IEEE 493
STA'2015-PID3908-NEM
Despite the great diversity of varying armature voltage
control [8, 9], the conventional structure using chopper as
converter and two closed paths in the DC control scheme, i.e.,
inner one for controlling current and outer one for speed
control, is still the preferable in many different applications
[10, 11], where the current controller is required to ensure a
safety for the engine and get desired response, and both the
loops are controlled with the help of PID-type controllers
which have the advantages of simple architecture, quick
control, high reliability, good steady state accuracy, and their
performance is satisfactory in many speed control tasks [3].
More precisely, PI type controller has been frequently used
for speed control of DC motor drives [12].
In recent years, a large number of research activities centered
on developing the speed control strategy using an intelligent
PID control techniques based on neural networks, fuzzy logic,
and the combination between them [13, 14, 15]. These
approaches can also be combined with many other control
methods like adaptive control [14]. Furthermore, other
qualitative research methods are intended to provide the
corresponding controller additional flexibility by generalizing
the conventional notion of integer order PID to fractional
order, and using intelligent algorithms like Genetic Algorithm
(GA), Particle Swarm Optimization (PSO), and Artificial Bee
Colony (ABC) in order to adjust various controller parameters
[16, 10]. On the other hand, few researchers focused on
simplifying the classical model structure by transforming the
inner loop blocks to a reduced form [2, 17], employing model
order reduction technique to obtain an equivalent reduced
order model of the given converter fed DC drive [18], etc.
These various works have succeeded in providing a
significant improvement to the performance of the DC motor
drive which becomes able to execute one variety of tasks and
overcome some practical problems that the traditional control
strategies are not suitable for many complex calculations.
In this paper, we initially investigate IMC strategy to
propose a novel structure of speed control for chopper fed DC
motor drive without using the inner current control loop but in
presence of a model reference. The IMC is an attractive
approach for design of simple robust controllers due to its
principles which are easier to understand than most other
advanced control methods, it requires only one parameter
setting beforehand [19, 20], and it can be rearranged to form a
standard feedback PID controller that can be easily
implemented for real-time applications [21]. Therefore, by
simplifying the first proposed scheme, we finally obtain a
general feedback control structure for the corresponding DC
drive. Our methodology which acts simultaneously on the
speed controller design and on the global DC control
architecture is here qualified as a very easy technique of
keeping motor speed at any desired set-point speed under
varying operating conditions.
 The rest of this paper is organized as follows: Section 2 Motor model

TL ( Ra / Km2 )
describes the different parts of the DC drive system. Section 3 Inner current Loop

reviews the principles of IMC strategy which lead to the new N ref
Kn (1+ sTn )
I aref
Kc (1+ sTc ) Va
ref

Kt
Va
1/ Ra I a Ra Td
−
1
ω
control schemes. Section 4 presents discussion of a +
−
Tns +
−
Tc s
Chopper
+
−
1 + sTa Km
+
Tm s

comparative evaluation between the conventional structure Nf PI speed

controller
Ia PI current
controller Eb
Km
using PI as speed and current controllers, and our suggested K2
architectures using just a single controller. Finally, 1 + sT2
Current filter
conclusions are drawn in Section 5. K1
1 + sT1
Speed filter with gain
II. CONVENTIONAL STRUCTURE AND MATHEMATICAL Figure 2. Conventional block diagram representation of speed control of DC
MODEL OF THE DC DRIVE SYSTEM motor drive.

The simplified transfer function of the equivalent model

The current study deals with speed control technique based on
varying the armature voltage for above and below rated speed
while keeping field flux constant (under constant field
current) [3, 17], and as mentioned in the first section, there
are double-loop feedback in the DC control scheme which
one presents outer speed control loop and the other inner
current control loop (see Fig. 1), where the feedback speed
(Nf) is compared with the reference speed (Nref), and the
resulting error signal is fed to speed controller [16]. The
sufficient voltage signal (Ec), also denoted as the reference
voltage ( V aref ), given by the current controller favors the
operation of duty cycle control of the chopper. The converter
is represented by a simple constant gain (Kt) [22] and its
output provides the required voltage (Va) to bring motor speed
back to the desired speed in presence of the load torque (TL).
In order to regulate the motor speed automatically, the
controlled variable is measured with the help of Tacho-
Generator. Since the Tacho voltage will include few ripples in
the measured speed (not be in perfect DC form), a filter with
gain (K1) and lag time constant (T1) is provided in the
feedback path of speed control loop [17]. The complete layout
of the DC control scheme, involving two closed paths [2, 17]
and the previously mentioned components, is shown in Fig. 2,
where Ȧ is the angular velocity (rad/sec), Eb is the motor back
EMF (V), Td is the developed torque (N m), Va is the armature
voltage (V), Km is the back EMF constant (V sec/rad), Ta is
the armature time constant (sec), Ra is the armature resistance
(ȍ), Ia is the armature current, I aref is the current reference
signal, Kc is the current controller gain constant, Tc is the
current controller time constant (sec), Kn is the speed
controller gain constant, Tn is the speed controller time
constant (sec), K2 is the current loop filter gain, and T2 is the
current loop filter lag (sec).
N ref + Speed
I aref+ Ec
Current
Chopper
− Controller − Controller
Nf
Current
Transducer
of DC motor (marked by solid line in Fig. 2) can be expressed
as follows [17]:
ω (s) 1 / Km
= (1)
Va ( s ) (1 + sTm )(1 + sTa )
Assuming:
J Ra L
K m = K Φ ; Tm = 2 ; Ta = a (2)
(K Φ) Ra
Where, ĭ is the field flux, K is the back EMF constant
(V/A sec/rad), J is the moment of inertia (Kg/m2), La is the
armature inductance (H), and Tm is the electromechanical time
constant (sec). Here, the two time constants Tm and Ta will
determine the response of the system.
The closed loop current control scheme is employed to
ensure that Va may be applied in such a way that machine
during positive and negative torque should not draw more
than the rated current. So, the applied voltage will not only
depend on the speed error but also on the current error. The
main function of current controller is to make Ia
follows I aref , that is to say, provides required acceleration and
torque which drive motor to the desired speed. Accordingly,
current control loop is considered as the core of DC motor
drive since it ensures safety for the DC components such as
power electronic converter, motor windings, etc., and takes
part in providing desired response [16]. The current controller
should be designed for the worst case at starting time when
motor back EMF is equal to zero (Eb = 0) and a large amount
of current flows through the machine [23].
From the inner current loop block (framed by dashed line
TL
ω in Fig. 2), the equivalent transfer function is given as follows:
Va
DC Motor Ia
Ia ( s) ¬ª Kt Kc /( RaTc s ) ¼º ª¬(1+ sTc ) /(1+ sTa ) º¼
= (3)
ref
Ia ( s) 1 + ¬ª Kt Kc /( RaTc s ) ¼º ¬ª(1+ sTc ) /(1+ sTa ) ¼º ¬ª K2 /(1+ sT2 ) ¼º

Speed
Transducer Where, T2 is set to a fairly small value [16].
Figure 1. Block diagram of closed loop control of DC motor drive. The system order may be reduced such as (3) can be
simplified as follows [16, 17]:

Ia (s) 1 / K2 1 / K2
=  (4)
Ia
ref
(s) 2 2
2T2 s + 2T2 s + 1 2T2 s + 1

494
 The reduced model of speed control loop is depicted in Speed controller Current controller Output
ref speed
Fig. 3 and the overall transfer function of considered drive N ref Kn (1+ sTn ) I a 1 / K2 Ia Ra / Km ω
(excluding speed controller) can be written as follows: + Tns 1 + s 2T2 Tm s
−
Nf PI Inner loop
Ra K1 ª 1 º K1
P ( s)= (5)
K 2 K mTm s (1 + sT )(1 + s 2T ) »
« 1 + sT1
¬ 1 2 ¼
Speed filter
Figure 3. Speed control loop of DC motor drive : a simplified model.
On the other side, the designing of speed controller must
be taken with the following specifications: the desired speed + d
is achieved within the constraints levied using Modulus r + u y
Q ( s) G ( s)
Hugging Approach [24, 25] and the fast control is obtained by − +
removing the delay system [17]. Thus, Tn and Kn must be +
Gp ( s )
adjusted according to the system requirements. −
Figure 4. IMC block diagram.
III. DESIGN OF SINGLE CONTROL LOOP STRUCTURE IN THE
DC CONTROL SCHEME + d y
r + Gc ( s )
u
G ( s)
− +
A. Brief Introduction to IMC and IMC-PID Methodologies
The IMC is a practical control for the open-loop stable Figure 5. General feedback control.
dynamic systems, and can realize good robustness and
excellent control performance [26, 27, 28, 29]. The schematic As a result, a first version of the IMC block diagram for
of IMC control system is depicted in Fig. 4, where G(s) DC motor speed control has been obtained and presented in
presents the process to be controlled, Gp(s) refers to the Fig. 6, where Np is the process speed (rad/sec) and ef is the
process model, Q(s) is the IMC controller, y is the output, r is error feedback speed (rad/sec). Consequently, IMC controller
the set-point, and d is the external disturbance of the system. can be easily deduced knowing that the overall transfer
function of the process plant has the following simple form:
Mathematically, the IMC scheme is equivalent to the
general feedback control structure and it can be greatly K t K1 / K m
Ga ( s ) = (6)
reduced as shown in Fig. 5. Therefore, it may lead to PID
form which has all the qualities that the IMC has and the
(1 + sTm )(1 + sTa ) (1 + sT1 )
block diagram structure as that of the PID controller [21]. As T1 and Ta are smaller time constants, their product can
Moreover, IMC-PID controller has a practical advantage that be approximated by zero. So, the corresponding denominator
a clear tradeoff between closed loop performance and can be further simplified as follows:
robustness can be achieved with a single tuning parameter.
Finally, note that the IMC method, used to derive PID (1 + sTm )(1 + sTa )(1 + sT1 )  (1 + sTm ) ª¬1+ s(T1 +Ta )º¼ (7)
controller settings, is given by Chien and Fruehauf [30] for a
variety of transfer function models, and the complete design After considering above approximation and according to
procedure for IMC philosophy is more completely analyzed the previously mentioned designs, the equivalent relationship
by Morari and Zafiriou [20]. between IMC and conventional PID can be built for a second-
order process. In other words, the first proposed block
B. Applications of IMC Strategy in Control Speed DC Motor diagram can be reduced to standard feedback control structure
involving only single closed loop. Consequently, a second
Drive
version using IMC principles has been deduced and given in
The objective of this paper is to investigate the IMC Fig. 7 for the same DC drive system. With suitable choice of
concepts for designing a new straightforward and robust F(s) and efficient application of the IMC-PID control design
control structure for speed regulation in a chopper fed DC procedure, Gc(s) can possess the PID control action and
motor drive. Thus, the design idea of the proposed strategy, appear in the parallel form of the PID controller [30]:
affected the conventional control structure, can be described
by the following operations: ª 1 º
Gc ( s ) = K P «1 + + τ D s» (8)
Step 1. Eliminate the inner current control scheme without ¬ τIs ¼
touching the other DC components.
Step 2. Connect a plant model with the controlled process in Where Kp, IJI and IJD are the proportional gain, integral time
parallel such as the added block must robustly constant, and derivate time constant, respectively.
model all DC components. Their general formulas referring to the main DC system
Step 3. Replace the PI speed controller by the IMC controller parameters and the filter tuning method are given and well
which may approach the inverse dynamic model. detailed in [20, 29].
Step 4. Add a low pass filter to the new controller in order to
strengthen the robustness of the system.

495
 Process plant : Ga ( s ) A. Armature Current Variation for Extreme Condition
Motor model
TL ( Ra / Km2 )
The study of the current flowing in armature circuit of
motor has been realized for the worst case at starting period
−
N ref + Nf because at that time a large current flows through the
Varef Va + 1/ Ra I a Ra Td + 1 K1
Q ( s) Kt
1 + sT1
machine, i.e., for the extreme condition, when back EMF is
− − 1 + sTa Km Tm s
ef IMC Chopper Eb Speed filter
zero. Simulations have been done for the two PID types
Speed
controller
with gain which one is PI form in the conventional structure and the
Km other is PID design in the second suggested design. The plots
+ of speed responses and armature current variations shown in
G p (s)
Np − Figs. 9.a and 9.b, respectively, demonstrate that both
Process
controllers offer constant speed behavior in the steady state,
model good stability, and specially the peak current values not
Figure 6. Block diagram of the proposed IMC control for chopper fed DC exceeded the motor maximum current limit. Consequently,
motor drive: a first version. the previously reported structures guarantee suitable
Motor model
protection to the armature winding of the separately excited
DC motor.
TL ( Ra / Km2 )
− In the following study, the armature current behavior will
N ref + Varef Va + 1/ Ra I a Ra Td + 1 ω be analyzed for each operating condition.
Gc ( s ) Kt
− − 1 + sTa Km Tm s
B. Response of the DC Motor Drive for Steady Operating
Nf IMC-PID Chopper Eb
Speed Conditions
controller
Km Simulation results of different responses of DC motor
drive using conventional and IMC structures have been
K1 obtained by keeping the reference speed at 55 rad/sec and the
1 + sT1 load torque constant at 5500 Nm. The speed response plots
Speed filter shown in Fig. 10.a and the various performance indexes
with gain (settling time (ts), percentage peak overshoot (%OS), and
Figure 7. Block diagram of the proposed single-loop IMC control for percentage steady state error (ess)) presented in Table I, show
chopper fed DC motor drive: a second version.
that the PI controller gives the faster response but it produces
a large overshoot (more than 34%) towards the reference
IV. SIMULATION RESULTS AND ANALYSIS speed, however, the IMC and IMC-PID don’t. In all cases, the
Using Simulink/Matlab environment, performances of the settling time is kept below 0.8 sec and there is no steady state
newly developed control structures are compared to the error. According to Fig. 10.b, it is observed that there is a less
conventional design method under steady state variation of the current signals generated by the proposed
operating conditions, for varying load and speed conditions, controllers while it is very high concerning the other which
and for the variation of DC motor armature resistance. can be dangerous for practical implementation.
Likewise, armature current behavior is analyzed during
starting time and under above operating conditions.
Note that, the DC drive specifications are provided in [16].
Prior to the start of the study, the open loop of considered
DC drive (excluding controllers) has been examined for the
simplified conventional scheme (Fig. 3) and for the first
proposed structure. From different bode plots shown in Fig.
8, it was obvious that the stability of the open-loop plant is
guaranteed for both designs with adequate gain and phase
margins.
Figure 9. a) Speed and b) armature current responses of DC motor drive
using PI and IMC-PID controllers for Eb = 0.

Figure 8. Bode plots of DC drive for conventional and IMC structures.

Figure 10. a) Speed and b) armature current responses of DC motor drive

using PI, IMC and IMC-PID controllers.

496
 TABLE I. SPEED RESPONSE PARAMETERS FOR STEADY OPERATING CONDITIONS
Parameters PI IMC IMC-PID
ts (sec) 0.3972 0.7926 0.5006
%OS 34.8871 - -
%ess 0.0000 0.0000 0.0000
C. Response of the DC Motor Drive under Varying Load
Conditions
Most electric drive systems evolve more and more from
constant load characteristics to varying load applications. In
this case study, performances of the competitive controllers
are compared at t = 10 sec when a sudden load is added at
about +2750 Nm around the constant full load torque. Just for
a clear comparison with conventional structure, some time-
domain specifications are provided in Table II, where %US
and tR are the percentage peak undershoot and the recovery
time, respectively. From the speed responses visualized in
Fig. 11.a, when the load is increased, the IMC-PID controller
provides the least peak undershoot and recovery time, and
only PI controller simultaneously produces overshooting and
undershooting. All three controllers assure the perfect speed
tracking with zero steady state error. On the other side, Fig.
11.b reveals that the armature current responses generated by
our new structures reach the new steady value with fewer
times just after load varying and provide minimum peak
values at starting periods.
D. Response of the DC Motor Drive for Step Change in
Reference Speed
In a process system, the drive may be required to operate
at varying speed conditions. In this context, simulation has
been performed under step up change in reference speed at t
= 10 sec such as the set speed is changed from 30 rad/sec to
55 rad/sec. From the speed responses shown in Fig. 12.a and
the vital performance indexes presented in Table III, it can be
seen that PI regulator has a better recovery time compared to
all other regulators but this improvement is accompanied by
an important overshoot (more than 11%) and an amount of
undershoot (more than 1%), while controllers based on IMC
principles do not produce this undesirable phenomenon
during speed variations. The steady state errors measured are
in favor of all different controllers and according to Fig. 12.b,
it can be observed that the DC drive using the conventional
structure produces very high peaks in armature current
responses with regard to the two other designs.
Figure 11. a) Speed and b) armature current responses of DC motor drive
using PI, IMC and IMC-PID controllers at more than full load.
TABLE II. SPEED RESPONSE PARAMETERS UNDER VARYING LOAD CONDITIONS
Parameters PI IMC IMC-PID
%OS 0.0569 - -
%US 0.5262 0.3532 0.2666
tR (sec) 0.5826 0.7780 0.5602
%ess 0.0000 0.0000 0.0000
497
Figure 12. a) Speed and b) armature current responses of DC motor drive
using PI, IMC and IMC-PID controllers for increased speed.
TABLE III. SPEED RESPONSE PARAMETERS FOR CHANGE IN SET SPEED
Parameters PI IMC IMC-PID
%OS 11.1382 - -
%US 1.2017 - -
tR (sec) 0.3968 0.7910 0.4992
%ess 0.0000 0.0000 0.0000
E. Response of the DC Motor Drive under Varying the
Armature Resistance
In this part, the robustness of each controller against
dynamic parameter variation Ra is evaluated by settling time
(sec), percentage peak overshoot (%), and rejection time of
load disturbance (sec), which are taken while the dynamic
parameter of the armature resistance is varied from -80% to
+80% of the nominal value and a sudden disturbance is
applied at t = 10 sec. As shown in Figs. 13.a and 13.c, PI
controller offers faster responses speed with lower settling
times compared with all other controllers but, in turn, it
produces very high speed overshoots because of the
oscillatory behaviors in transient periods. So, it leads to
severe oscillations with increase in armature resistance
whereas the other controllers give no overshoots.
Fig. 13.b indicates that IMC-PID controller has faster
disturbance rejection performances than the other regulators
for a wide range of variation. Specifically, the system
variation can be divided in two phases:
- Phase 1. When armature resistance is varied from -80% to
42% of the nominal value, IMC-PID is the best
controller, which able to restore the system to
set value in the shortest possible times without
the speed responses are disturbed.
- Phase 2. When armature resistance is varied from 42% to
80% of the nominal value, PI controller slightly
outperformed IMC-PID controller in term of
rejection times.
On the other hand, Fig. 13.d reveals that for all regulators
as the armature resistance increased the current peak values
decreased. Thus, the peak values generated by IMC-PID
controller are greatly decreased where they reach lower
values than those of PI controller from -44.7% of Ra variation,
but remain higher than those produced by IMC controller
which always has the minimum peaks.

Figure 13. a) Settling times, b) rejections times, c) peak overshoots, and d) peak
values of the armature current of the various speed regulators for a variation
from -80% to +80 of Ra .
V. CONCLUSION
The newly developed designs based on IMC principles
have succeeded to provide better control performance,
robustness and stability compared to conventional control
scheme based on two closed loop control. Especially, IMC-
PID control structure presents a good tradeoff between the
first IMC design and the other classical architecture. So, it
has many benefits that it is easy to construct a well
performed control structure and compensate
for changing conditions and parameter variations in the DC
drive. Moreover, it can be implemented for real time
applications without any current controller.
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