Controlling a DC Motor with an Encoder

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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.

XPC PID example.jpg

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.

PID example model properties.jpg