Work in Progress as the goal is to remove the over and undershoot of the DC motor for finer control, not entirely sure how to implement a PID controller for a DC motor.
The DC source on the left acts as the control voltage to set the position of the motor, and the squarewave source acts as the over and undershoot ripple voltage from the pontentiometer attached to the motors shaft. Two filters remove the ripple and combine to create an average voltage that keeps the H bridge from turning the motor.
