Comparative Analysis of Optimal Control Strategies: LQR, PID, and Sliding Mode Control for DC Motor Position Performance

Year 2023, , 571 - 592, 31.12.2023

Hakan Kızmaz

https://doi.org/10.54287/gujsa.1393092

Abstract

This study applies these control methods to the DC motor system to examine the robustness and performance of four optimal control methods. Optimal controllers aim to control the system to minimize a selected performance index. These control methods offer advantages such as improving energy efficiency, reducing costs, and enhancing system security. The Linear Quadratic Regulator (LQR) based controller is the primary optimal control method. Two well-known traditional control techniques include the Proportional-Integral-Derivative (PID) and Integral Sliding Mode Controller (ISMC). However, they do not usually contain optimal properties. In this study, the optimal control algorithms, defined by obtaining controller parameters through the Riccati equation, are applied to achieve accurate position-tracking control in a DC motor system using Matlab/Simulink. The integral term-based algorithms seem to be robust and eliminate steady-state errors. The optimal PID controller could not provide the minimum performance index, unlike the other controllers in the study. LQR and optimal ISMC algorithms could allow the performance index to be a minimum. An illustrative comparison of the performances of all optimal control algorithms has been presented through graphical representation, along with corresponding interpretations.

Keywords

DC Motor, Linear Quadratic Regulator, Optimal Control, Optimal PID, Optimal integral sliding mode control

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