Controller design via reduced model for DC servo system: An experimental study

Model order reduction (MOR) is an important phenomenon in control theory for identification of higher-order model to a lower-order. However, it is observed that the practical application of MOR in designing a controller for obtaining desired performance is limited. Therefore, in this paper, we propose a two step approach of designing proportional-integral (PI) type controller in which the system to be controlled is approximated to a reduced model via Gerschgorin theroem and singular perturbation technique, and then the obtained model is employed to evaluate the tuning parameters of PI. The tuning is based on analytical approach of designer´s specification. The validation of proposed technique is carried out for speed control problem of DC servomotor through MATLAB simulations and hardware implementation on precision modular servo set-up. The analysis shows improved performance in terms of fast reference tracking and disturbance attenuation.