W.H. Ali, Y. Zhang, C.M. Akujuobi, C.L. Tolliver, and L-.S. Shieh
DSP, PID, load disturbance, IMC, input saturation
This paper presents a robust proportional-integral-derivative (PID) controller design method for permanent magnetic DC (PMDC) motor. The PID controller parameters are systematically developed through the linear quadratic regulator (LQR) approach, such that satisfactory performance with guaranteed closed-loop stability is achieved. In order to deal with modelling error and input saturation, an internal model control (IMC) structure is utilized, such that system robustness is improved, without the need for an observer. The proposed method is implemented through the dSPACE digital signal processor (DSP) system, and the experimental result confirms its effectiveness.
Important Links:
Go Back
