Set Speed (RPM)

Peak Overshoot (%)

Steady State Error (%)

Motor Braking Time (s)

PI

BELBIC

PI

BELBIC

PI

BELBIC

300

44

25

4.7

0.5

0.46

0.38

600

25.7

13

2.5

0.4

0.55

0.42

900

14.4

9.4

0.56

0.24

0.63

0.46

1000

11.6

7.2

0.45

0.18

0.75

0.52

1200

7.77

3.4

0.42

0.14

1.02

0.72

1500

5.7

3

0.4

0.08

1.42

0.87

2000

3.2

2

0.32

0.03

2.2

1.2