Speaker Prof. Rubén Alejandro Garrido Moctezuma, PhD

Automatic Control Department, Centro de Investigación y de Estudios Avanzados del I.P.N. (CINVESTAV)

Av. Instituto Politénico Nacional 2508, Mexico City, Mexico




PhD: Computer Department. Université de Technologie de Compiègne, France / November 1993 / Honorable Mention

Masters: Diplome d’Etudes Approfondies. Institut Politecnique de Grenoble, Francia  / Junio de 1990

M.SC: Department of Electrical Engineering / Automatic Control, CINVESTAV / November 1987

Bachelor Degree: Higher School of Mechanical and Electrical Engineering (ESIME-IPN) / October 1983.

He is currently a Titular Research at the Automatic Control Department, CINVESTAV, México.

His research interests include: Adaptive control / Control of robot manipulators / Visual servoing / Servomechanisms / System identification


TUT: Servomechanisms with DC motors

September 3-4, 2018, 9:30-14:30 hrs., Limited to 50 participants

Lenguaje:  Spanish

Duration:  9 hours



This tutorial aims to present an introduction to the modeling, identification and control of Direct Current servomechanisms. The topics that are addressed correspond to modeling, parametric identification using Least Squares methods, Proportional-Integral-Derivative (PID) control and control by active rejection of perturbations using uncertainties observers and generalized proportional integral observers. A laboratory practice will be carried out in the facilities of the Automatic Control Department.



First part.

1. Introduction to servomechanisms.

2. Modeling of a DC motor: Differential equations formalisms, transfer function and state variables.

3. Parameterization of the model of a DC servomechanism.

4. Parametric identification using Least Squares methods.

Second part.

1. PID controller.

2. PID control architectures.

3. Control using observers of uncertainties.

4. PID controller tuning based on the equivalence between a PID control law and a control law that uses an uncertainty observer.

5. Control using Generalized Integral Proportional observers.

Third part.

1. Laboratory practice.


The hours of laboratory practice will depend on the number of participants in the course.





Awaiting confirmation of the  speakers, more information will be published in this page.