This paper investigates the optimal control of an armature-controlled DC motor through the use of a compensator from the second generation of control compensators and a controller from the second generation of PID controllers. The proposed compensator is an I-first order compensator and the proposed controller is a PD-PI controller. The compensator and controller are tuned for good control system performance in tracking a specific desired motor speed. The performance of the control system with the proposed compensators is compared with PI controller from the first generation of PID controllers to control the same motor-speed process. The DC motor speed is identified as a controlled process experimentally for two possible transfer function models. The characteristics of the step time responses are compared with those of the conventional PI controller. The best compensator/controller for the control of the DC motor is assigned and compared with other controllers available in the literature.

-The research work presented in this research paper handled the control of an armature- controlled DC motor for the best performance for reference input tracking. -An I-first order compensator from the second generation of control compensators and a PD-PI controller from the second generator of PID controllers were proposed to control the DC motor compared with a PI controller from the first generation of PID controllers. -The motor was identified experimentally to avoid the effect of nonlinearity and noise. Its transfer function model was reduced from 1/2 to 0/2 orders with reasonable justifications. -The proposed compensators were tuned using multiple approaches based on applying the zero/pole cancellation, MATLAB optimization toolbox and fulfilling specific settling time. -The PI controller was tuned by the authors using MATLAB optimization toolbox. -The purpose of the investigated controllers/compensator was to track a specific reference input of 130 rev/min (13.6135 rad/s). -The proposed PD-PI succeeded to eliminate completely the maximum percentage overshoot of the DC motor. -The proposed compensator/controller succeeded to reduce the settling time of the control system (with respect to the 2 % tolerance) to values in the range: 0.004 ≤ Ts ≤ 0.0049 s compared with 0.236 s for the PI controller. -The proposed compensators succeeded to reduce the rise time to 0.0022 ≤ Tr ≤ 0.003 s compared with 0.1288 s for the PI controller. -The best controller/compensator was chosen to be the PD-PI controller based on its time-based characteristics in Table 1 compared with the other compensator/controllers. The PD-PI controller could compete with three other controllers: Neoro controller, Adaptive PID controller and fractional-order PI controller when controlling a DC motor speed.

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