A Differentiation Approach for Robust PID Controller for a Linear BLDC Motor

Abstract

The proposed research work intends to present a design methodology for obtaining a robust PID/PI controller for interval systems. This research work makes use of Model-Order Reduction (MOR) technique along with Model-Matching approach for attaining the desired controller parameters. The model-matching approach is used to consider a lower-order open-loop transfer function that embodies the desired time-domain / frequency-domain specifications. The primary objective is to make the step response of BLDC motor along with controller in closed-loop that match the open-loop response of the modeled system for the required time-domain characteristics. MOR technique is implemented for the approximation of high-order controller transfer function that has been attained by using a model-matching approach. In the current research paper, the differentiation technique for approximating the higher-order system is adopted along with Kharitonov's theorem for expanding the bounded parameter variation of a Linear BLDC-Motor, which is considered here as a case study.