This tutorial paper presents the experimental results of solving speed and position control problems by using embedded controllers. The embedded controllers used proportional, integral, and derivative controls. A feature of these controllers is that the sample time is not explicitly included in the integral and derivative control equations. This feature was experimentally tested. In the testing of the integral control with such feature, the controller was applied to a speed regulation problem under the condition of rapidly changing load. In the testing of the derivative control with the same feature, the controller was applied to a ringing removal problem. The results were that these controllers performed as expected. Other experiments of position controls and their results were also presented. All the embedded controllers were implemented in a member ofFreescale Semiconductor’s MC68HC12 microcontroller family.
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