The project setup is as shown in the figure 1 below.

Where the connection are between the

Arduino, PWM amplifier, encoder, DC motor and power supply. Figure 2 shows the block diagram for the
desired project. PID controller is used in this test. A rectangular glass load is used in this test to represent
the unbalance condition. Figure 3 below shows the flow chat for the system algorithm. To achieve the
required angle, there are four operating point set which are 0-90, 90-180, 180-270 and 270. For each
operating point, different set of gain parameters (Kp, Ki, Kd) are scheduled. After running the coding, the
data (time and position) obtained is recorded and plotted to the graph for further discussion.

Figure 1: Block diagram of Gain Scheduling Adaptive control using DC servomotor

Figure 2: Schematic diagram of system's connection

 Start

Set first Gain parameter set (Kp, Ki,

Kd) for operating point 0-90

D
B
Rotate motor

Obtain position

Rotate motor

Obtain time

Yes
C Check position in range 0-90 parameter for operating point of 0-9
Set Gain

No

Yes Check position No

in range 90- A
Set Gain parameter for operating point of 90-180
180
 A B

Yes
Check position in range 180-270
Set Gain parameter for operating point of 90-180

No

No No
Check position = 270 Check position > 270 C

Yes

Yes Set Gain parameter for operating point direction motor backward > 270

End

Figure 3: Flowchart for the computer algorithm

C