A comparative study of proportional-integral (P-I) and integral-proportional (I-P) control schemes, for the speed control of a dc drive, using both analog-and microprocessor-based digital circuits, is presented. The often-neglected current response is discussed and results are presented. The speed response to step changes in speed reference and load torque, using both the control schemes, is compared to evaluate the merits of I-P control. A brief discussion of sensitivity to controller gains is also given. It is shown that the I-P control scheme offers some distinctive advantages over P-I control. Experimental and simulation results are also presented.
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Nandam et al. (1987) studied this question.
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