Paper Title
Speed Synchronization of Master-Slave DC Motor Control System using PID Controller

Abstract
This paper presents speed synchronization of master-slave DC motor is tested with the various Proportional, Integral, Derivative (PID) controller configurations in software and hardware design. In simulation, the PID, PI-D, I-PD and 2DOF I-PD controller test to obtain the precise desired reference speed for the DC motor at least error. To get the mathematical model of DC motor, MATLAB system identification tool-box (black-box modeling) is used with the input/output data of the DC motor open loop control system. MATLAB Simulink block is used to test the speed control of DC motor software result. MATLAB built-in PID tuning Method calculates the Kp, Ki, and Kd gain for the various control algorithms. These gains are adjusted with manual tuning to get better speed performance of DC motor control system. In experiment, Arduino Uno act as a controller. The communication protocol between two DC motors uses I2C (Inter Integrated Circuit) communication. The hardware experiment shows the speed response of the master-slave DC motor with the PID controller at different reference desired speed. Keywords - PID, P-ID, I-PD, 2DOF I-PD, DC Motor, Master-Slave