Discrete time optimal tracking control of BLDC motor

Brushless Direct Current (BLDC) motors are widely used for high performance control applications. Conventional PID controller only provides satisfactory performance for set-point regulation. In this paper, a discrete time optimal tracking control of BLDC motor is presented. Modeling of the BLDC motor is expressed in state equation. A discrete time full-order state observer is designed to observe states of BLDC motor. Feedback gain matrix of the observer is obtained by pole assignment method using Ackermann formulation with observability matrix. The state feedback variables are given by the state observer. A discrete time LQ optimal tracking control of the BLDC motor system is constructed to track the angle of rotor of the BLDC motor to the reference angle based on the designed observer. Numerical and experimental results are shown to prove that the performance of the proposed controller.