Design and Comparative Study of Fuzzy Logic and PID Controllers for DC Motor Speed Control

АУТОР(И) / AUTHOR(S): Sanja Antić , Alenka Milovanović , Milentije Luković  and Vanja Luković

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DOI: https://doi.org/10.46793/TIE26.378A

САЖЕТАК /ABSTRACT:

This paper presents the design and comparative performance analysis of a conventional PID controller and two Mamdani-based Fuzzy Logic Controller (FLC) configurations for DC motor speed control in the MATLAB/Simulink environment. The investigated controllers include a hybrid Fuzzy-PI architecture with an output integrator and a scaled Mamdani FLC with input-output universes of discourse mapped to the motor’s nominal operating point. Their performance is evaluated using transient response characteristics (rise time, settling time, and overshoot) and the Integral of Time-Weighted Absolute Error (ITAE) under nominal operating conditions and external load disturbances. Simulation results show that the scaled FLC provides an ultra-fast transient response under nominal conditions but exhibits poor disturbance rejection due to the absence of integral action. In contrast, the hybrid Fuzzy-PI controller completely eliminates the steady-state error under load and demonstrates superior robustness against external disturbances.

КЉУЧНЕ РЕЧИ / KEYWORDS: 

Fuzzy Logic Control; PID controller; DC motor; MATLAB/Simulink

ПРОЈЕКАТ / ACKNOWLEDGEMENT:

This study was supported by the Ministry of Science, Technological Development and Innovation of the Republic of Serbia, and these results are parts of the Grant No. 451-03-34/2026-03/ 200132, with University of Kragujevac – Faculty of Technical Sciences Čačak.

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