I want to make a feedback control on an electrical drive on a model car. Unfortunately, the drive and gearbox have a rather large latency, so finding a suitable control function is tricky. Furthermore the system behavior is non-linear (backlash when the drive is stopped) and changes over time (when battery power decreases).
With current PI controller, the system starts, overshoots and then stops again. I think with the given system the desired speed cannot be reached exactly, but I would rather have a smooth speed near the desired value than a system trying to achieve the exact value.
What kind of controller can you recommend for this kind of problem?