Mendonça, Luis Manuel FernandesSilva, Miguel Sérgio Amaro PedroPardelhas, João Pedro Sousa Dias2022-06-072023-01-012015-11http://hdl.handle.net/10400.26/40941The purpose of this dissertation is to implement and compare speed controllers on the CE 107 pneumatic engine apparatus. The controllers are implemented on a developed hardware that includes a microcontroller and a dedicated motor drive circuit capable to interface with the DC motors. A software was created to plot the data in real time. Firstly, the system static characteristics and transfer functions are identi ed so that controllers can be tuned and simulations can be done. Secondly, feedback, cascade, internal model, feedforward and model free controllers are tuned, simulated and implemented. A change on a tuning rule and a 2DOF control structure that aims to separate the setpoint from the load disturbance responses are proposed, simulated and implemented. Finally, the controllers performances are compared and conclusions are drawn.engPID controller, speed control, 2DOF control, cascade control, internal model control, model-free control.master thesis202311473