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Speed control of MT2240A DC motor with observer-based linear quadratic regulator

Ömer Kasım


The design of Direct Current (DC) motor speed control, which is preferred due to its high torque in industrial applications, is a challenging task. The Linear Quadratic Regulator (LQR) controller ensures the well-controlled behavior of the system by minimizing the error in speed control. This can only be achieved if the rank of the controllability matrix is maximum. The rank value of the MT2240A DC motor used in the study is calculated as one. In this study, the LQR controller enriched with an observed-based design was used to overcome this problem.  In the experiments, the transient and steady-state behavior metrics of the speed control were compared in the simulation environment of the plant controlled by the Proportional Integral Derivative (PID) controller, and the closed-loop response of the plant to determine the efficiency of the presented design. It was observed that the LQR controller has an optimum response with more effective transient and steady-state responses compared to the PID controller. This result enabled the LQR controller design, which was inadequate in terms of controllability, and the results is proved that the observation-based LQR controller dynamically responded better.

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