This is a design tool for PID design in motor servo systems. It begins with the PID Velocity Control Loop Model and a DC Motor Model. Then target specifications are defined and by application of a PID Direct Synthesis Method, the Controller is designed. Analysis in both the continuous and discrete frequency domain is presented. A second order, critically damped filter, is detailed to be included in the closed loop and the selection of the sampling frequency is discussed. Time delays are modeled and included in this analysis.
