Nonlinear Integral System Control

This paper deals with the control of a nonlinear integral system in the form of a DC electric motor with worm gear and a microcontroller-based control unit. The aim is to control the angle of rotation of the output shaft. The paper tries to describe the nonlinearity of the system, which is caused by the typical characteristics of DC electric motors. The solution includes identification of the system and its nonlinearities and application of a PID controller algorithm. The influence of nonlinearities is verified by comparison of a simulation in MATLAB / Simulink environment and an experiment on a physical model.