Robust control QFT position for brushed DC motor

This paper presents a robust QFT controller for position control of a DC motor with brushes from performance specifications such as robust stability, rejection of load disturbances in the motor shaft and reference tracking. The controller was implemented in the DSP TMS320F28335 which quantified the logic proposed by the robust control to generate a PWM signal as a function of the control action, which is applied by means of a bridge driver H type N-channel MOSFET from 31A to 30V DC. The proposed two degrees of freedom scheme showed a robust behavior of the position of the DC motor shaft in the case of changes in load on the shaft, variation of parameters according to the point of operation of the motor, and reference tracking. The RTDX communication protocol was used to acquire real-time information from the process.