Pid speed controller and obtaining the output function by using haar wavelet collocation method for the dc motor

In this study, PID speed controller for the DC motor is proposed. In order to control the speed of a DC motor which is given model, it is essential to compute output function dθ/dt, In this study Haar wavelet collocation method (HWCM) is used for calculate the output function, approximately. Then PID speed controller is designed for controlling a DC motor. The experimental results confirm that the designed controller provides suitable tracking performance. Moreover, to present the robustness of (HWCM), approximate solutions of the system for different iteration values in the system are offered. To show the efficiency and accuracy of the method experimental results are given.