Abstract
In this study, a new controller design was created to increase the control performance of a variable loaded time varying linear system. For this purpose, a state estimation with reduced order observer and adaptive-LQR (Linear–Quadratic Regulator) control structure was offered. Initially, to estimate the states of the system, a reduced-order observer was designed and used with LQR control method that is one of the optimal control techniques in the servo system with initial load. Subsequently, a Lyapunov-based adaptation mechanism was added to the LQR control to provide optimal control for varying loads as a new approach in design. Thus, it was aimed to eliminate the variable load effects and to increase the stability of the system. In order to demonstrate the effectiveness of the proposed method, a variable loaded rotary servo system was modelled as a time-varying linear system and used in simulations in Matlab-Simulink environment. Based on the simulation results and performance measurements, it was observed that the proposed method increases the system performance and stability by minimizing variable load effect.
Highlights
Permanent Magnet DC (PMDC) motors, which are frequently preferred since they are controlled, have been widely used in recent years
One of the most remarkable characteristics of the adaptive state feedback control method is that it compensates the effects, such as variable load
The responses of the adaptive-Linear–Quadratic Regulator (LQR) and other control method are given in Fig. 7, and effects of the variable load that occured after the 21st second on the response curve of the system is shown in Fig. 8 clearly
Summary
Permanent Magnet DC (PMDC) motors, which are frequently preferred since they are controlled, have been widely used in recent years. The full order observer method is applied to estimate all states in the controller designs, and the reduced order observer method is applied to estimate unmeasurable states only if there are measurable states. This control structure is used in induction motor control [10] sensorless electric drives [11] permanent magnet synchronous motors [12], linear time-delay systems [13], aircraft motion control [14], and multi-agent systems
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