Optimal control based feedback linearization for position control of DC motor

This paper proposes the position control of DC motor. Two methods are used for position control, LQR method and feedback linearization. We show that these methods without load torque are stable, but, when load is added to the motor´s shaft, LQR and feedback linearization can not make efficient input signal for reference tracking in output. To solve this problem, we combined these methods and will show by using combined method, the position of shaft tracks reference in presence of large torque. For validation of new controller, we compared response with LQR and feedback linearization. Simulation results show stable response of new method.