I. INTRODUCTION
Advances in technology led to the role of humans being
replaced by machines or automatic control devices to do some
job. One of such device in automatic control is motor. Motor
is device that converts electrical energy into mechanical
energy. The motor that utilizes a DC supply to produce
mechanical output is direct current (DC ) motor. Direct current
(DC) motors have been widely used in many industrial
applications such as electric vehicles, steel rolling mills,
electric cranes, and robotic manipulators due to precise, wide,
simple, and continuous control characteristics [1].