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

Hakan Kızmaz

Makale detayları

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

Yazarlar:

Hakan Kızmaz

Yayıncı:

Gazi University

Ana Başlıklar:

Control Theoryand Applications

Dergi:

Gazi University Journal of Science Part A: Engineering and Innovation Vol.10 Issue 4, pp.571-592

Belge Tipi:

Makale

Yayın Tarihi:

12/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001309099

pISSN:

2147-9542

Anahtar kelimeler:

Özet:

 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 MatlabSimulink. 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.

 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 MatlabSimulink. 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.

 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 MatlabSimulink. 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.

 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 MatlabSimulink. 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.

Makale detayları

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

Yazarlar:

Hakan Kızmaz

Yayıncı:

Gazi University

Ana Başlıklar:

Control Theoryand Applications

Dergi:

Gazi University Journal of Science Part A: Engineering and Innovation Vol.10 Issue 4, pp.571-592

Belge Tipi:

Makale

Yayın Tarihi:

12/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001309099

pISSN:

2147-9542

DC Motor

Linear Quadratic Regulator

Optimal Control

Optimal PID

Optimal integral sliding mode control

Sayı

Makale detayları

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

Yazarlar: Hakan Kızmaz

Yayıncı: Gazi University

Ana Başlıklar: Control Theoryand Applications

Dergi: Gazi University Journal of Science Part A: Engineering and Innovation Vol.10 Issue 4, pp.571-592

Belge Tipi: Makale

Yayın Tarihi: 12/2023

Belge Dili: İngilizce

Document ID (Org No.): 2001309099

pISSN: 2147-9542

DC Motor

Linear Quadratic Regulator

Optimal Control

Optimal PID

Optimal integral sliding mode control

Sayı

Yazarlar:

Hakan Kızmaz

Yayıncı:

Gazi University

Ana Başlıklar:

Control Theoryand Applications

Dergi:

Gazi University Journal of Science Part A: Engineering and Innovation Vol.10 Issue 4, pp.571-592

Belge Tipi:

Makale

Yayın Tarihi:

12/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001309099

pISSN:

2147-9542