The thesis is divided into three parts, firstly, detailed information about the ranges, properties, mechanical and electrical connections of components are provided. Then, in system identification discussion, model of the motor is identified and validate based on experimental tests on the system. Furthermore, proportional and phase lead controller are designed and tuned due to the proposed model and response of real system to meet the desired performance specifications.

Since to run the motor, the matlab simulink model should be developed and it should be compiled on d-Space control board through the control desk as an interface, the needed matlab Simulink model and control desk layout will be created.

The study indicates that, the proper method in our project which contributes to iden-tify model of the motor. Based on numerous experimental tests, the linear model of the motor is proposed and it is validated throughout studying transient response of model and real system to typical identification inputs.

Furthermore, our closed loop analysis will look at some key properties of designed proportional and phase lead controller, they are stability, reference tracking performance and disturbance rejection performance.

The compensated phase provided by phase lead controller is studied, where the phase may be lost in process model or measurement device. Notice that, when the phase lead parameters apply in closed loop system include velocity feedback, it may make face the system to unknown oscillatory behavior, probably because of presence of noise and delay in velocity measurement, or it theoretically can help the system in sudden chang-ing of reference input. Moreover, the response of both controllers in real system will be analyzed to figure out which of them provide the better transient response. /Kir11