Direct current motors are widely used in industrial environments because of their advantages, such as high efficiency, high performance, low noise, high power density, and torque-inertia ratio. The controller predominantly used to control these motors is the Proportional-Integral- Derivative (PID) due to its simplicity, fault-tolerant structure, and adequate performance. However, direct current motors present parametric variations due to wear and aging. PID controllers only operate properly near a specific operating point for which they were designed. Then, they need frequent updates in their parameters. In order to overcome the PID’s limitations, this work proposes a controller with a simple design and fine adjustment of its parameters in an intuitive way, which is capable of controlling the position of the rotor shaft of a direct current motor at several operating points, presenting the same dynamics desired by the designer and having a structure similar to the traditional PD controller. In addition to the controller proposal, the work presents stability analyses, simulation results, and a discussion.
