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This work presents a study over a torque-generated speed control of free wheel attached to a DC motor, for use on traction of mobile vehicles. Also, it presents the discrete state space model of a DC model and the Kalman filter’s equations and applications. This work presents a hardware-in-the-loop (HIL) system for design of a torque controller noticed that this process produces a faster design, coding, and parameter optimization of any embedded systems. The hardware used for the implementation of the system is discussed as the hardware-in-the-loop environment which makes possible the fast tuning and design of the system. In the absence of a torque sensor, this work uses the Kalman filter’s estimated states torque and speed as feedbacks of the system.

Torque Control of a DC Motor with a State Space Estimator and Kalman Filter Applied in Electrical Vehicles