Real-Time Integrated Speed Control of a DC Motor with Latency and Packet-Loss Resilient Telemetry
Journal
Eng
Publisher
MDPI AG
Date Issued
2026-10-02
Author(s)
Elvira-Ceja, Santiago
CastaΓ±eda, Carlos E.
Avalos-Corrales, Abraham M.
Valle-Perez, Jose M.
Gabbar, Hossam A.
Type
Article
Abstract
Wireless control systems often suffer from performance degradation due to sensor noise, transmission delays, and packet loss over Wi-Fi links. This paper presents an architecture for telemetry with resilient control for real-time DC motor speed regulation. The proposed architecture has a functional division of tasks between a local ESP32-S3 microcontroller and a remote computer. The ESP32-S3 microcontroller receives reference speed set-points through Wi-Fi and applies a BΓ©zier curve profiler to smooth speed transitions, preventing transient voltage and current surges. To avoid the necessity of extra physical sensors, a Euler-discretized sliding-mode observer (SMO) estimates the unmeasured armature current of the motor and the dynamic load torque from encoder-based speed measurements. These states are fed into a discrete Linear Quadratic Regulator (LQR) to compute the control action for a Buck/Boost power converter driving the motor under variable load disturbances. Simultaneously, the ESP32-S3 streams a telemetry vector containing ππ, ππ, π, and
^
π
πΏ over Wi-Fi to the remote computer. This computer executes an Extended Kalman Filter (EKF) that attenuates communication noise and reconstructs missing telemetry during packet-loss events, enabling uninterrupted real-time visualization and persistent data logging. The experimental validation includes a broad operating range, multiple load-torque levels, packet-loss intervals, and comparative tests against a classical PID controller. The results show that the proposed LQR-based architecture maintains accurate speed tracking over different operating regions and provides faster recovery after load-torque perturbations when compared with the PID controller. In addition, the telemetry link was evaluated under non-ideal communication conditions, where the EKF maintained the availability of the estimated variables during packet-loss intervals and reduced high-frequency fluctuations in the received telemetry signals. Furthermore, an experimental comparison between time-varying and constant EKF covariance matrices supports the use of the proposed πEKFβ‘(π),π EKFβ‘(π) formulation to improve the estimation behavior under changing operating conditions. Experimental validation on a physical test bench demonstrates that the integrated control framework maintains accurate speed regulation, smooth transient responses, disturbance-rejection capability, and data continuity under variable operating speeds, non-linear load-torque variations, and degraded Wi-Fi telemetry conditions.
^
π
πΏ over Wi-Fi to the remote computer. This computer executes an Extended Kalman Filter (EKF) that attenuates communication noise and reconstructs missing telemetry during packet-loss events, enabling uninterrupted real-time visualization and persistent data logging. The experimental validation includes a broad operating range, multiple load-torque levels, packet-loss intervals, and comparative tests against a classical PID controller. The results show that the proposed LQR-based architecture maintains accurate speed tracking over different operating regions and provides faster recovery after load-torque perturbations when compared with the PID controller. In addition, the telemetry link was evaluated under non-ideal communication conditions, where the EKF maintained the availability of the estimated variables during packet-loss intervals and reduced high-frequency fluctuations in the received telemetry signals. Furthermore, an experimental comparison between time-varying and constant EKF covariance matrices supports the use of the proposed πEKFβ‘(π),π EKFβ‘(π) formulation to improve the estimation behavior under changing operating conditions. Experimental validation on a physical test bench demonstrates that the integrated control framework maintains accurate speed regulation, smooth transient responses, disturbance-rejection capability, and data continuity under variable operating speeds, non-linear load-torque variations, and degraded Wi-Fi telemetry conditions.
License
Acceso Abierto.
URL License
How to cite
Elvira-Ceja, S., Valderrabano-Gonzalez, A., CastaΓ±eda, C. E., Avalos-Corrales, A. M., Valle-Perez, J. M., & Gabbar, H. A. (2026). Real-Time Integrated Speed Control of a DC Motor with Latency and Packet-Loss Resilient Telemetry. Eng, 7(10), 517. https://doi.org/10.3390/eng7100517
Table of contents
1. Introduction -- 2. System Modeling and Design -- 3. Software Architecture -- 4. Experimental Results -- 5. Discussion -- 6. Conclusions.