Optimization of DC Motor Speed Control Using LQR Technique

Abstract

AbstractA design for speed control system of DC motor with less control efforts and minimum cost is a major challenging task for industrial applications. As compared to classical speed control techniques for DC motor, Linear Quadratic Regulator (LQR) controller gives good controlled behaviour of the system by minimizing the deviation in speed. In this paper LQR control mechanism has been proposed to control the speed of DC motor using state space theory. In LQR controller, the selection of weighted matrix Q and R of performance index for Algebraic Riccati equation (ARE) is a major task. In this paper Pole Placement controller and LQR controller are designed and implemented for DC motor speed control. The simulation results obtained in MATLAB for both Pole placement controller design and LQR technique are compared in terms of transient and steady state behaviour. It is observed that LQR controller gives good optimal response with better transient and steady state responses as compared to pole placement controller. LQR controller gives the better dynamic response, reduces steady state error and also resists power supply disturbance.KeywordsLinear Quadratic Regulator (LQR)State variablesAlgebraic Riccati equation (ARE)Pole placement method