The document below is my first attempt a control systems project. My instructor wanted an IEEE formatted paper for a semester long project.
What I realized is that information is hard to come by to produce accurate calculations for very small DC motors – I had to guess a lot. Second, that for a physical system, it’s very difficult to get the rotors ganged together to provide the appropriate feedback. In version 2.0, I will go all digital, or provide some sort of light sensor – photo diode perhaps?