International Journal of Applied Power Engineering (IJAPE)

Vol. 14, No. 2, June 2025, pp. 401~411

ISSN: 2252-8792, DOI: 10.11591/ijape.v14.i2.pp401-411  401

Speed control of BLDC motor using PID controller

Tirunagari Bhargava Ramu1, Sreevardhan Cheerla2, Ravi Kumar Kallakunta2, Kaja Krishna Mohan3,
Syed Inthiyaz2, Nelaturi Nanda Prakash4, Bodapati Venkata Rajanna1, Cheeli Ashok Kumar1
1
Department of Electrical and Electronics Engineering, MLR Institute of Technology, Hyderabad, India
2
Department of Electronics and Communication Engineering, Koneru Lakshmaiah Education Foundation, Guntur, India
3
Department of Electronics and Communication Engineering, RV Institute of Technology, Guntur, India
4
Department of Electronics and Communication Engineering, Chalapathi Institute of Engineering and Technology, Guntur, India

Article Info ABSTRACT

Article history: The current state of science, technology, and industrial revolutions did not
occur overnight. Many years of empirical study attempts by human
Received Dec 29, 2023 intelligence have led to the world's current status. As a result, new
Revised Nov 21, 2024 technologies and innovations would constantly propel human civilization
Accepted Nov 28, 2024 forward. Another outstanding invention of the present day is the brushless
DC (BLDC) motor. This paper outlines the design of a BLDC motor control
system utilizing MATLAB/Simulink software. The main aim of this project
Keywords: is to control the speed and to obtain time domain specifications of PID
controller. The application of speed control of motor is vast and also
Brushless DC motors required to maintain the work efficient without any disturbance, the power
MATLAB/Simulink consumption, and any other fuel to run. On the basis of this the brushless DC
PID controllers motor as application is selected because of reduction in losses and also the
Stability power. The PID control system is built to control the speed of the motor and
Universal bridge gives the precise output. The universal bridge is used to amplify the current
in the output of the application. PID controller reduces the error and
increases the stability of the system.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Tirunagari Bhargava Ramu
Department of Electrical and Electronics Engineering, MLR Institute of Technology
Dundigal, Hyderabad 500043, Telangana, India
Email: bharagava.ramu1978@gmail.com

1. INTRODUCTION
Brushless direct current (BLDC) motors have emerged as key components in numerous industrial,
automotive, and consumer applications because of their high efficiency, compact size, and precise
controllability [1]. BLDC motors have a number of benefits over conventional brushed DC motors, such as
higher power-to-weight ratios, better dependability, and lower maintenance needs [2], [3]. The motor speed
regulation is one of the most important components of BLDC motor control since it has a direct impact on
system efficiency and performance. Numerous control algorithms and methods have been developed to
accomplish precise speed control; nevertheless, the proportional integral derivative (PID) controller continues
to be one of the most popular because of its ease of use and practicality [4], [5].
By modifying the control signal in response to system feedback, the PID controller functions. The
PID controller can efficiently regulate the speed of BLDC motors by continually modifying the applied
voltage or current thanks to this control method, which includes the proportional component (P), the integral
of the error over time (I), and the derivative of the error (D) [6], [7]. Enhancing PID-controlled BLDC motor
systems' performance has been the subject of recent research [8], [9]. Optimizing PID controller parameters
to minimize steady-state error, shorten settling time, and enhance overall system stability has been the subject
of numerous studies [10], [11]. Furthermore, in order to adaptively modify controller parameters in real-time

Journal homepage: http://ijape.iaescore.com

402  ISSN: 2252-8792

depending on system dynamics, sophisticated PID tuning strategies have been presented, including adaptive
control methods and auto-tuning algorithms [12], [13]. BLDC motor systems can now precisely manage
speed and track position thanks to the integration of PID control with sophisticated sensor technologies such
as encoders and Hall effect sensors [14]-[17]. Additionally, the responsiveness and transient performance of
PID-controlled BLDC motor systems have been improved by the addition of feedforward control techniques
and predictive algorithms, allowing for quick and precise speed adjustments in dynamic working conditions
[18]-[20]. Even with these developments, BLDC motor systems still face difficulties in reaching ideal speed
control performance, especially in applications where accuracy, responsiveness, and energy efficiency are
crucial [21], [22]. Strong control strategies and adaptive tuning techniques are required for PID-controlled
BLDC motor systems because of factors such as mechanical load changes, system nonlinearities, and
disturbances that can impact performance [23]-[25].

2. METHOD
2.1. Mathematical model of BLDC
A permanent magnet on the rotor causes some variations, but otherwise, the development of a
BLDC motor model is comparable to that of a synchronous machine. The material of the magnet affects the
flux linkage from the rotor, leading to common occurrences of magnetic flux linkage saturation in these
motors. Unlike traditional three-phase motors, a BLDC motor can be powered by a voltage source that does
not have to be sinusoidal. As long as the peak voltage remains below the motor's maximum voltage limit,
alternative waveforms such as square waves can be used. The armature winding model of the BLDC motor is
described by (1), (2), and (3).

𝑑𝑖𝑟
𝑉𝑟 = 𝑅𝑖𝑟 + 𝐿 + 𝑒𝑟 (1)
𝑑𝑡

𝑑𝑖𝑦
𝑉𝑦 = 𝑅𝑖𝑦 + 𝐿 + 𝑒𝑦 (2)
𝑑𝑡

𝑑𝑖𝑏
𝑉𝑏 = 𝑅𝑖𝑏 + 𝐿 + 𝑒𝑏 (3)
𝑑𝑡

Where 𝐿 is armature self-inductance [H], R is resistance [Ω] in armature, 𝑉𝑟 , 𝑉𝑦 , 𝑉𝑏 are phase voltage [V] at
terminal, 𝑖𝑟 , 𝑖𝑦 , 𝑖𝑏 are input current [A] of motor, and 𝑒𝑟 , 𝑒𝑦 , 𝑒𝑏 are motor back- EMF [V].

2.2. PID controller

There are three subblocks in the CONTROLLER_MOD block as shown in Figure 1. These building
blocks are all finite state machines. The duty of keep the necessary current flowing through each machine.
The CONTROLLER_MOD block assumes control and opens the necessary voltage source inverter (VSI)
gates to establish and maintain the desired current once the estimate block has produced the reference. The
inverter's construction with BLDC motor is displayed for reference as shown in Figure 2. Each machine
employs straightforward logic. For example, the machine managing the U phase checks whether the actual
current in phase R (IR) exceeds the desired current (IRSTAR). If it does, transistor Q4 is turned on.
Otherwise, transistor Q1 is activated.

2.3. BLDC motor

The five variables derived from (1), (2), and (3) are central to the state-space model calculations.
After further processing, these variables produce a total of 25 observable outputs. The block also receives
voltage values applied to the windings, along with load torque data. Instead of using the Sim Power Systems
block set, which requires substantial computational power and memory, input values are sourced from
general Simulink blocks. Since solving differential equations is necessary for output calculations, only
numerical values are used. Figure 3 displays the Simulink diagram for the BLDC motor.

2.4. Simulink model of the BLDC motor

This brushless DC motor model has a conventional setup. Motor speed is controlled by an outside
feedback loop, while current is regulated by an interior feedback loop. The motor and driver subsystem's
servomotor block balances mechanical and electrical power and models the inner current feedback loop.
Modeling the current switching regulated by the motor driver is typically not required for system design, but
it is vital to make sure the torque-speed characteristics and current pulled from the DC supply are correct. In
actuality, the maximum driving current determines the vector of maximum torque values. It is assumed that

Int J Appl Power Eng, Vol. 14, No. 2, June 2025: 401-411
Int J Appl Power Eng ISSN: 2252-8792  403

the system that uses the motor and driver will take care of making sure the motor doesn't overheat by running
at high torque and speed combinations for extended periods of time. To match the datasheet values, three
motor and driver mask settings must be adjusted. These are the time constant for the inner-loop current
controller and the proportional and integral gains for the speed feedback controller. The datasheet states that
the no-load time constant in this case is 5 ms. An inner control loop should, as a general rule, be at least ten
times quicker than the outer loop. This indicates that the present controller's time constant is 0.5 ms. Once
this value has been established, the proportional term is raised until the speed time constant is roughly 5 ms.
When executing a speed step under load, the integral gain should then be established and increased until the
steady-state error is eliminated, which should take about 5 ms. The 5 ms increase time under no load must
then be recovered with some fine-tuning of the two gains. Figure 4 illustrates the Simulink model of the
BLDC motor, which was developed in the rotor reference frame. The BLDC motor control system comprises
several components, including the BLDC motor itself, an inverter, and a controller.

Figure 1. Controller block

Figure 2. BLDC motor as well as VSI configuration

Figure 3. Simulink diagram for BLDC motor

Speed control of BLDC motor using PID controller (Tirunagari Bhargava Ramu)
404  ISSN: 2252-8792

Figure 4. MATLAB simulation

3. RESULTS AND DISCUSSION

As shown in Figures 5 and 6, torque and speed characteristics are smoother and more stable.
PID control helps in maintaining precise control over both speed and torque, reducing oscillations and
improving responsiveness. The motor can efficiently adjust to changes in load conditions, ensuring more
reliable performance. As shown in Figures 7 and 8, torque and speed characteristics can be unstable and
exhibit significant oscillations. Without PID control, the motor may struggle to maintain consistent speed and
torque, especially under varying loads. There might be a noticeable lag in response to changes in speed or
torque commands.

Figure 5. Electromagnetic torque vs time characteristics with PID controller

Int J Appl Power Eng, Vol. 14, No. 2, June 2025: 401-411
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Figure 6. Speed vs time characteristics with PID controller

Figure 7. Torque vs time characteristics without PID controller

Figure 8. Speed vs time characteristics without PID controller

Speed control of BLDC motor using PID controller (Tirunagari Bhargava Ramu)
406  ISSN: 2252-8792

As shown in Figures 9 and 10, torque and speed characteristics are generally smoother and more
stable compared to a P controller. The addition of the integral term in the PI controller helps to eliminate
steady-state errors by continuously integrating the error over time. The PI controller provides improved
responsiveness and better adaptation to varying load conditions, resulting in more precise control over speed
and torque. As shown in Figures 11 and 12, speed vs torque characteristics may exhibit some degree of
stability, but there could be overshoot or undershoot in response to sudden changes in load or speed
commands. The P controller provides proportional control, meaning the torque output is directly proportional
to the speed error. However, it lacks integral and derivative actions, which could result in steady-state errors
and slower response to disturbances.

Figure 9. Torque vs time characteristics with PI controller

Figure 10. Speed vs time characteristics with PI controller

Figure 11. Torque vs time characteristics with P controller

Int J Appl Power Eng, Vol. 14, No. 2, June 2025: 401-411
Int J Appl Power Eng ISSN: 2252-8792  407

Figure 12. Speed vs time characteristics with P controller

3.1. Mathematical analysis

The time domain specifications are rise time, peak time, delay time, settling time, overshoot, and
steady-state error. The time it takes for a signal to cross a predetermined lower voltage threshold and then a
predetermined upper voltage threshold is known as the rise time. In both analog and digital systems, this is a
crucial parameter. It characterizes the amount of time a signal spends in the transitional stage between two
valid logic levels in digital systems. Peak time is the amount of time needed by the reaction to reach its initial
peak, which is the peak of the first oscillation cycle or first overshoot. The amount of time it takes for a
response to reach half of its ultimate value during its initial oscillation cycle is known as the delay time. The
amount of time it takes for the output of a control system to attain and remain within a given error range
following an input stimulus is known as the settling time. It's a crucial sign of the stability and performance
of a control system. By deducting the steady-state value from the peak response value and dividing the result
by the steady-state value gives the overshoot and is often reported as a percentage. It is possible to program
controllers to prevent overshoot, but doing so typically entails reducing control effort as the setpoint gets
closer. Reaching the target value may take longer as a result. The discrepancy between a control system's
intended and actual output after it has achieved a steady-state is known as steady-state error.
a. Without PID controller
˗ Rise time: usually longer because of sluggish response when the controller is not adjusted. Longer settling
time as a result of steady-state error and overshoot being uncontrollable.
˗ Peak time: a longer time to achieve the peak overshoot and a higher overshoot may occur.
˗ Overshoot: a higher overshoot could result from a lack of control. Depending on the dynamics of the
system and changes in load, there may be a considerable steady-state inaccuracy.
b. P controller
˗ Rise time: Much the same as or marginally better than systems without PID control. Although it may be
marginally better than systems without PID control, steady-state error is still a possibility.
˗ Peak time: Comparable to systems that don't use PID.
˗ Overshoot: The amount of overshoot may vary based on the controller gain.
˗ Steady-state error: Improved compared to systems without PID control, but steady-state error may still
exist.
c. PI controller
˗ Rise time: Generally improved compared to P controller and systems without PID control.
˗ Settling time: Typically reduced due to the elimination of steady-state error by the integral action.
˗ Peak time: Similar to P controller or slightly improved.
˗ Overshoot: Reduced compared to P controller and systems without PID control.
˗ Steady-state error: Eliminated or significantly reduced due to the integral action.
d. PID controller
˗ Rise time: Improved compared to PI controller and systems without PID control, thanks to the derivative
action.
˗ Settling time: Typically further reduced compared to PI controller due to enhanced control over
overshoot.
˗ Peak time: Generally similar to PI controller or slightly improved.
˗ Overshoot: Reduced compared to PI controller and systems without PID control due to the damping effect
of the derivative action.
Speed control of BLDC motor using PID controller (Tirunagari Bhargava Ramu)
408  ISSN: 2252-8792

˗ Steady-state error: Virtually eliminated due to the combined actions of proportional, integral, and
derivative terms.
The time domain specification with formula is given in Figure 13. The simulation result values of
rise time, peak time, transient time, and settling time for P, PI, PID, and without PID controllers are shown in
Table 1. The positive peak, negative peak, and steady-state difference values for different controllers are
shown in Table 2.

Figure 13. Formula for time domain specification

Table 1. Simulation results

Controller Rise time Peak time Transient time Settling time
PID 0.016 0.033 0.087 1.000
PI 9.888×10^(-4) 3.626×10^(-3) 0.028 1.000
P 1.648×10^(-3) 3.626×10^(-3) 0.027 1.000
Without PID 5.603×10^(-3) 8.899×10^(-3) 0.020 1.000

Table 2. Steady-state difference of simulation

Controller Positive peak Negative peak Steady-state difference
PID 1503.555 1498.526 5.029
PI 1504.388 1484.573 19.815
P 1491.406 1480.837 10.569
Without PID 1356.739 1329.031 27.708

4. CONCLUSION
To sum up, adding a PID controller to a BLDC motor improves both its control accuracy and
operational stability. Speed vs. torque characteristics could show oscillations and instability without PID
control, resulting in uneven performance. But with a PID controller, the motor can maintain more stable and
smoother speed vs. torque characteristics, which guarantees better responsiveness, more accurate control, and
greater flexibility under different load circumstances. As a result, BLDC motor systems' efficiency and
dependability are greatly increased by the use of a PID controller. To sum up, adding a PID controller to a
BLDC motor improves both its control accuracy and operational stability. Speed vs. torque characteristics
could show oscillations and instability without PID control, resulting in uneven performance. But with a PID
controller, the motor can maintain more stable and smoother speed vs. torque characteristics, which guarantees
better responsiveness, more accurate control, and greater flexibility under different load circumstances.

FUNDING INFORMATION
There are no sources of funding agency that have supported the work. So, authors state no funding
involved.

AUTHOR CONTRIBUTIONS STATEMENT

This journal uses the Contributor Roles Taxonomy (CRediT) to recognize individual author
contributions, reduce authorship disputes, and facilitate collaboration.

Int J Appl Power Eng, Vol. 14, No. 2, June 2025: 401-411
Int J Appl Power Eng ISSN: 2252-8792  409

Name of Author C M So Va Fo I R D O E Vi Su P Fu
Tirunagari Bhargava Ramu ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Sreevardhan Cheerla ✓ ✓ ✓ ✓ ✓ ✓ ✓
Ravi Kumar Kallakunta ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Kaja Krishna Mohan ✓ ✓ ✓ ✓ ✓ ✓ ✓
Syed Inthiyaz ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Nelaturi Nanda Prakash ✓ ✓ ✓ ✓ ✓ ✓ ✓
Bodapati Venkata Rajanna ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Cheeli Ashok Kumar ✓ ✓ ✓ ✓ ✓ ✓ ✓

C : Conceptualization I : Investigation Vi : Visualization

M : Methodology R : Resources Su : Supervision
So : Software D : Data Curation P : Project administration
Va : Validation O : Writing - Original Draft Fu : Funding acquisition
Fo : Formal analysis E : Writing - Review & Editing

CONFLICT OF INTEREST STATEMENT

The authors declare that they have no known competing financial interests or personal relationships
that could have appeared to influence the work reported in this paper. Authors state no conflict of interest.

DATA AVAILABILITY
The authors confirm that the data supporting the findings of this study are available within the article.

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BIOGRAPHIES OF AUTHORS

Dr. Tirunagari Bhargava Ramu currently working as associate professor in

Department of EEE, MLR Institute of Technology, Dundigal, TS, India and obtained his
B.Tech. in Electrical and Electronics Engineering from JNTU, Hyderabad, M.Tech. in Power
Electronics from JNTUH, Hyderabad, and Ph.D. from JJT University Rajasthan. He published
4 papers in international journals and 4 papers in national and international conferences. His
area of interest is power system stability, power quality and in smart grid technologies. He can
be contacted at email: bharagava.ramu1978@gmail.com.

Sreevardhan Cheerla is currently serving as an associate professor in the

Department of Electronics and Communication Engineering at Koneru Lakshmaiah Education
Foundation, Green Fields, Vaddeswaram, A.P.-522302. He earned his Ph.D. from K L
University. Dr. Cheerla has an extensive publication record, with numerous papers in esteemed
journals and chapters in academic books. Additionally, he has presented a wide range of
academic and research papers at both national and international conferences. His areas of
specialization include wireless communications, microstrip patch antennas, biomedical
instrumentation, and the internet of things (IoT). He can be contacted at email:
sreevardhancheerla@kluniversity.in.

Dr. Ravi Kumar Kallakunta is currently serving as an associate professor in the

Department of Electronics and Communication Engineering at Koneru Lakshmaiah Education
Foundation, Green Fields, Vaddeswaram, A.P.-522302. He earned his Ph.D. from K L
University. He has an extensive publication record, with numerous papers in esteemed journals
and chapters in academic books. Additionally, he has presented a wide range of academic and
research papers at both national and international conferences. His areas of specialization
include image processing, machine learning, multidisciplinary areas, and the internet of things
(IoT). He can be contacted at email: ravi.engg38@kluniversity.in.

Int J Appl Power Eng, Vol. 14, No. 2, June 2025: 401-411
Int J Appl Power Eng ISSN: 2252-8792  411

Dr. Kaja Krishna Mohan is currently serving as an associate professor in the

Department of Electronics and Communication Engineering at R V Institute of Technology,
Guntur, A.P. He earned his Ph.D. from K L University. Dr. Kaja has an extensive publication
record, with numerous papers in esteemed journals and chapters in academic books.
Additionally, he has presented a wide range of academic and research papers at both national
and international conferences. His areas of specialization include embedded systems and the
internet of things (IoT). He can be contacted at email: krishnamohan506@gmail.com.

Dr. Syed Inthiyaz is currently serving as an associate professor in the Department

of Electronics and Communication Engineering at Koneru Lakshmaiah Education Foundation,
Green Fields, Vaddeswaram, A.P.-522302. He received B.Tech. from JNTU, Hyderabad in
2005. He received M.Tech. from JNTU, Kakinada in 2010. He received his Ph.D. in the field
of Image Processing from K L University in 2018. He has published 70 papers in international,
national journals, and conferences. He is a life member of the Indian Science Congress and
IAENG. His research interests include image processing, machine learning, medical imaging,
and VLSI. He can be contacted at email: syedinthiyaz@kluniversity.in.

Nelaturi Nanda Prakash received the B.Tech. degree in Electronics and

Communication Engineering from Lovely Professional University, Jalandhar, Punjab, India, in
2015, and M.Tech. degree from Koneru Lakshmaiah Education Foundation, Vaddeswaram,
Guntur, India in 2017, respectively. He is currently working as an assistant professor at
Chalapathi Institute of Engineering and Technology, Lam, Guntur, Andhra Pradesh, India. He
has published several papers in international conferences and journals in the field of image
processing. He can be contacted at email: nandaprakashnelaturi@gmail.com.

Dr. Bodapati Venkata Rajanna is associate professor at the College of Electrical

and Electronics Engineering, MLR Institute of Technology, India. Received B.Tech. degree in
Electrical and Electronics Engineering from Chirala Engineering College, JNTU, Kakinada,
India, in 2010, M.Tech. degree in Power Electronics and Drives from Koneru Lakshmaiah
Education Foundation, Guntur, India, in 2015, and Ph.D. in Electrical and Electronics
Engineering at Koneru Lakshmaiah Education Foundation, Guntur, India, in 2021. Currently,
he is working at MLR Institute of Technology, Hyderabad. His current research includes
dynamic modeling of batteries for renewable energy storage, electric vehicles, and portable
electronics applications, renewable energy sources integration with battery energy storage
systems (BESS), smart metering and smart grids, micro-grids, automatic meter reading (AMR)
devices, GSM/GPRS and power line carrier (PLC) communication, and various modulation
techniques such as QPSK, BPSK, ASK, FSK, OOK, and GMSK. He can be contacted at
email: rajannabv2012@gmail.com.

Cheeli Ashok Kumar has recently taken up the role of Head of the Electrical and
Electronics Engineering (EEE) Department at MLR Institute of Technology, Hyderabad, India.
With a career spanning over 24 years and a history of successfully leading similar departments
at prestigious institutions, he has contributed to the field by publishing numerous research
papers in reputed journals. Known for his dynamic leadership and innovative approach, he is set
to lead the department into a new phase of growth, focusing on elevating its reputation,
expanding its research impact, and ensuring that students are at the forefront of technological
advancements. His research areas include low power VLSI and machine learning. He can be
contacted at email: cheelikumar@gmail.com.

Speed control of BLDC motor using PID controller (Tirunagari Bhargava Ramu)