Controlling a DC Motor with an Encoder

Controlling a brushed DC motor with an encoder is very common and serves as a good example of the basic programming of xPC models. Below you will find the xPC model code for controlling a DC motor, like the Maxon 6W motor in the lab.

Here is the code: xPC PID Example.mdl

When using this model, you should set the sample time and discrete filter properties by opening File -> Model Properties -> Callbacks -> InitFcn.