Servo Motor PID — Brushed DC Motor Position Control UNSTABLE SATURATED
Brushed DC Motor Model
M θ, ω V⁺ V⁻ R, L J (rotor inertia) B (friction) Kt, Kb (coupling) load τdist
Motor Parameters
4.0 Ω
0.020 H
0.060
2.0e-3
2.0e-4
PID Controller   C(s)=Kp + Kd·s + Ki/s
10.0
1.000
15.0
Amplifier & Load
12 V
0.000
2.0 s
Performance Metrics
—
ωBW [rad/s]
—
ζeff
—
Overshoot
—
SS Error
—
Peak Voltage
—
Settle ts [s]
Presets
Step Response — Angle & Control Voltage
Pole–Zero Map
× CL poles  × OL poles  ○ zeros
💡 Adjust motor parameters and PID gains to tune the servo position controller. Kd acts as electronic damping — it feeds back motor velocity to reduce overshoot.