Speed Control of DC Motor with MRPID Controller in the Presence of Noise

Speed control of a DC motor has always been a challenge because of its variable torque. But it becomes more challenging when noise enters the system at its input. Therefore, there is a need of more advanced controllers. In this paper, a multi-resolution proportional integral derivative (MRPID) controller has been proposed to be utilized to control the speed of a DC motor. It works well even in the presence of noise as compared to the conventional PID controller. Also, performance of a PID controller deteriorates when nonlinearity or uncertainty arises in the system. This degraded performance can be improved by utilizing the multi-resolution property of wavelets, which decomposes the error signal into various frequency components. Further, wavelet coefficients of these decompositions are used to generate the control signal for controlling speed of a DC motor. In this paper, performances of a MRPID, a fractional order PID (FOPID) and a conventional PID controllers are compared in the presence of noise for speed control of a DC motor. The results obtained using a MRPID controller are observed to be better in terms of improved transient characteristics and disturbance rejection for a DC motor as compared to those obtained with PID and FOPID controllers.