# Applying full state feedback on DC motor with torque load

I tried to apply full state feedback on DC motor (with no load) and it works fine in the simulation on Simulink

But the question is if I have a load applied on the motor (let’s say constant load or any thing else) the system in this case has two inputs voltage and torque load (Tl).

I can control only one input (voltage) and I have no control on the other input (Tl), So in this case what can I do in order to be able to perform full state feedback ?

• First of all, you need to have the mathematical model with or without load. Mar 24 '20 at 6:02

One possibility: since you are saying that you know what this load is a priori, you can just add a time dependent function into your dynamics, something like $$P(t)$$ where $$P$$ represents the load. You will then have a time dependent system, which you can still control.