State Observer Embedded in a Digital Processor for DC Motor Velocity Estimation

With the increase in processing speed and memory of digital systems the implementation of digital controllers has become more frequent. One of the problems that are most frequently encountered in the implementation of digital control systems is the limitation of observing all the dynamics involved in the processes. This fact is evidenced in the control of DC motors at the moment of sensing the angular velocity. For this reason, state observers are an important part of control theory due to their ability to filter noise and estimate unmeasured states. Complex dynamics systems frequently use DC motors as actuators. Because of this, the proposal presented in this paper describes the development, implementation and validation of a full-order state observer for angular velocity estimation of a DC motor using a digital processor in order to improve the accuracy in the control process. The results obtained demonstrate the effectiveness of the observer embedded in a low-cost development board in the estimation of DC motor velocity.