Eureka! Institutional Repository

This thesis concerns the experimental study and evaluation of the speed and angular position control problem of a small DC motor. To perform the necessary experiments, a construction with cheap materials and a small DC servo motor with a built-in encoder were used, so that precise control of speed and position was possible by optimizing the response and stability of the system by adjusting the control parameters, i.e. of the gains of a three term PID controller, Analog, Integral and Differential. Control is achieved with the Arduino microcontroller via a basic motor control circuit. Overall, we provide detailed information on the methodology, experimental procedure, acquisition and evaluation of results with the aim of enabling the lay reader to understand and apply the findings to similar systems or applications.