Linear quadratic gaussian (LQG) controller design for servo motor

Wan Mohd, Wan Syahidah (2013) Linear quadratic gaussian (LQG) controller design for servo motor. Masters thesis, Universiti Tun Hussein Malaysia.

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Abstract

This paper presents the development of Linear Quadratic Gaussian controller design forDC servo motor.The accuracy of the control system is directly proportional to servo motor precision. However, the precision of DC servo motor system difficult to achieved due to the ignorance of the sensor noise and plant disturbance. Therefore LQG controller has been design to control speed and position of DC servo motor. In LQG controller designed, the noise sensor and plant disturbance has been considered as white noise Gaussian. This controller has be designed based on combination of Steady-state Linear Quadratic (LQ)OptimalControl and Steady-state Kalman Filter State Estimation by solving matrix Riccati equation in order to determine steadystate feedback gain, K and steady-state Kalman gain, G. MATLAB Simulink and MFile approached have been done to simulate the design. Besides that, Arduino microcontroller board also has been explored in order to do real-time Simulation between LQG controller and DC servo motor. The step response of closed-loop digital control system using LQG controller and opened-loop control system have been compared to verified that the performance of closed-loop control system better than opened-loop system

Item Type:	Thesis (Masters)
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ212-225 Control engineering systems. Automatic machinery (General)
Divisions:	Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering
Depositing User:	Mrs. Sabarina Che Mat
Date Deposited:	28 Mar 2022 01:30
Last Modified:	28 Mar 2022 01:30
URI:	http://eprints.uthm.edu.my/id/eprint/6837

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