A comparative study of proportional-integral (P-I) and integral-proportional (I-P) control schemes for a dc drive is presented. Various characteristics, such as error signal processing and sensitivity to controller gains, of both the schemes are analysed. The response of both the controllers for a change in speed reference and load torque is discussed. The current response during starting is also presented. It is shown that the I-P scheme offers some distinctive advantages. Experimental and simulation results are also presented. A one quadrant GTO chopper is used as the power conditioning unit in the experimental set-up using a separately excited dc motor.
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Nandam et al. (1986) studied this question.
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