On the implementation of a SNF velocity controller for DC motors with low resolution encoders

In this work, the systematic accuracy error in velocity estimation induced by low resolution encoders in the velocity control of DC motors is addressed. For this aim, the construction of a real-time embedded control system and the comparison of the M and T-methods to provide accurate velocity estimations is presented. The built system is then validated through the implementation of a novelty SNF velocity controller in a real DC motor. Experimental results addressing the tracking control task, using the constructed testbed, demonstrate the capabilities of the estimation methods.