Best control algorithm for DC motor position

Hello,

I have to develop a digital controller to control the angular position of a DC motor.

A load is directly fixed on the motor axis with an important static friction.

A static error is tolareted but the dynamic error should remain limited when a sin wave motion is asked for example.

The position is measured with an encoder The current is not measured

What type of controller could fit to these needs?

- direct load

- static friction to compensate

- fast response to limit dynamic error

Thanks for your help.

For information, I attach the values

Greg.

begin 666 values.txt M#0HM('1O

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Greg
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