DC motor position control using Raspberry Pi and dsPIC

I took a log of the readings of the film encoder and graphed it with the Raspberry Pi app ImageViewer.

You can see that it oscillates to the target position (red line). If it is a car, it is in a state where the stop line is overrun with a red light and rushes back and then returns too much, and when it advances, it is over again. The immediate goal will be to develop a control law that will stably stop at the target position. Film encoder readings are read with dsPIC's Quadrature Encoder Interface (QEI). The value is read regularly by the Raspberry Pi

Raspberry Pi,DC motor,Printer,Carriage Encoder,ImageViewer,Control,