I am trying to use a PID controller to synchronize wheel speeds in an arduino-bot so that I can get it to drive straight. I am unsure how to approach this problem without knowing the physical properties of the servo motors for the disturbance input (i.e., internal friction, moment of inertia, damping ratio). The ultimate goal of the project is to evaluate the gains of the system using transfer functions and then use MATLAB root locus features to evaluate the response & stability.
Could anyone supply me with some direction on how to get started? I have read some information on using step inputs to evaluate different parameters but do not know how exactly to do this. Tools on hand: arduino due, dc servo's with optical encoders and slotted optical wheel, MATLAB, and Simulink. Also have installed the PID & servo libraries for arduino. Thanks.