Title :
Q-parameterization Control for a Class of DC Motor
Author :
Nawawi, Sophan Wahyudi ; Ibrahim, Zuwairie ; Khalid, Marzuki
Author_Institution :
Control & Instrum. Dept., Univ. Teknol. Malaysia, Skudai, Malaysia
Abstract :
The DC motor speed control is commonly used in several robotic applications. Thus the controller design for the DC motor speed control is a compulsory to optimize the performance of the motor towards the system design specification. In this paper the DC motor mathematical model is obtained then Three linear controllers, which are PID, LQR, and Q-parameterization controllers are designed for controlling the DC motor speed. The performance of the control techniques is compared in terms of transient response and steady state error performance. The comparison amongst the controller shows that the Q-parameterization controller significantly reduces the transient response performance and also steady state error.
Keywords :
DC motors; angular velocity control; control system synthesis; machine control; three-term control; transient response; DC motor mathematical model; DC motor speed controller design; LQR linear controller; PID linear controller; Q-parameterization linear controller; robotic application; steady state error performance; transient response performance; DC motors; Equations; Magnetic fields; Mathematical model; Steady-state; Torque; Velocity control; Controllers; DC motor; Q-parameterization;
Conference_Titel :
Intelligent Systems, Modelling and Simulation (ISMS), 2012 Third International Conference on
Conference_Location :
Kota Kinabalu
Print_ISBN :
978-1-4673-0886-1
DOI :
10.1109/ISMS.2012.85
