A practical implementation of a microprocessor-based time optimal position control of a permanent magnet dc servomotor is considered. A current controlled PWM amplifier is presented to simplify the real time implementation and the sizes of the filter capacitor and braking resistor are determined for hardware design. A compensating technique the braking period is used to improve the time optimal position control system under the inexact load parameter. Experimental results are given to show the usefulness of the control scheme in practical point of view.
