Yakhelef, YassineBoulouh, Messaoud2024-01-072024-01-0720230033-209710.15199/48.2023.12.25https://dspace.univ-boumerdes.dz/handle/123456789/12772https://sigma-not.pl/publikacja-146724-2023-12.htmlIn this research paper, we intend to study the issue of improving the stability robustness and accuracy performance of double Proportional-Integral and reduced order state estimator based speed controlled DC drive system when subjected to sudden change of load torque disturbance, where an optimized transfer function based feedforward compensating technique is proposed and applied for this purpose. The simulation results have shown a significant improvement of systems’ accuracy performance and stability robustness to variable load torqueenStability robustnessDouble proportional-integral controllerload torque changeOptimized feedforward functionArticle