Real-Time Integrated Speed Control of a DC Motor with Latency and Packet-Loss Resilient Telemetry

Wireless control systems often suffer from performance degradation due to sensor noise, transmission delays, and packet loss over Wi-Fi links. This paper presents an architecture for telemetry with resilient control for real-time DC motor speed regulation. The proposed architecture has a functional division of tasks between a local ESP32-S3 microcontroller and a remote computer. The ESP32-S3 microcontroller receives reference speed set-points through Wi-Fi and applies a Bézier curve profiler to smooth speed transitions, preventing transient voltage and current surges. To avoid the necessity of extra physical sensors, a Euler-discretized sliding-mode observer (SMO) estimates the unmeasured armature current of the motor and the dynamic load torque from encoder-based speed measurements. These states are fed into a discrete Linear Quadratic Regulator (LQR) to compute the control action for a Buck/Boost power converter driving the motor under variable load disturbances. Simultaneously, the ESP32-S3 streams a telemetry vector containing Va, ia, ω, and T^L over Wi-Fi to the remote computer. This computer executes an Extended Kalman Filter (EKF) that attenuates communication noise and reconstructs missing telemetry during packet-loss events, enabling uninterrupted real-time visualization and persistent data logging.