A door opening/closing control device includes: a controller controlling driving of an actuator opening or closing a door; a position detector detecting an opening/closing position of the door; a speed calculator calculating an opening/closing speed of the door based on a temporal change in the opening/closing position detected by the position detector; and a target assisting force calculator calculating target assisting force based on the opening/closing position and the opening/closing speed of the door. The controller controls the driving of the actuator to assist an operation of opening or closing the door based on the target assisting force calculated by the target assisting force calculator. Further, the controller controls the driving of the actuator such that the door is fully closed upon judgment that the opening/closing position of the door is in the vicinity of the fully closed position based on the opening/closing position detected by the position detector.

Technical solutions are described for controlling a brushed direct current (DC) motor, including: determining a speed difference signal based on a difference between a speed command signal and a motor speed of the brushed DC motor; determining a torque command signal based on the speed difference signal; determining a voltage command based on the torque command signal; and applying a DC voltage to the brushed DC motor based on the voltage command. Determining the torque command signal based on the speed difference signal further includes at least one of: determining a modified proportional torque component including a feedforward gain term times the speed command signal, with the torque command signal including the modified proportional torque component; and/or determining a modified derivative torque component including a time derivative of the motor speed of the brushed DC motor, with the torque command signal including the modified derivative torque component.

Technical solutions are described for controlling a brushed direct current (DC) motor, including: determining a speed difference signal based on a difference between a speed command signal and a motor speed of the brushed DC motor; determining a torque command signal based on the speed difference signal; determining a voltage command based on the torque command signal; and applying a DC voltage to the brushed DC motor based on the voltage command. Determining the torque command signal based on the speed difference signal further includes at least one of: determining a modified proportional torque component including a feedforward gain term times the speed command signal, with the torque command signal including the modified proportional torque component; and/or determining a modified derivative torque component including a time derivative of the motor speed of the brushed DC motor, with the torque command signal including the modified derivative torque component.