Design and Implementation of LQR with State Observer for Position Control of DC Servo Motor using dSPACE DS-1104

Abstract

The aim of this work is to design the LQR based state observer for controlling the position of a DC servo motor. The Luenburger observer is used to design the observer. The feedback controller gain is calculated using LQR technique and the overall system is simulated on MATLAB/Simulink. After observing the observer based feedback system in MATLAB/simulation, the overall system is implemented on dSPACE DS1104 Controller board. The result is tested using the versatile Control Desk software. When compared to other techniques, Usage of DS1104 controller board for system design and implementation minimizes the design and testing time. Results show that controlling the position using this stated method is more effective than PID control.  

Keywords: State observer, Luenburger observer, dSPACE DS1104, Control desk 

Cite this Article Shivaraju M A, Sudarshan Patil Kulkarni. Design and Implementation of LQR with State Observer for Position Control of DC Servo Motor Using dSPACE DS-1104. Journal of Instrumentation Technology and Innovations. 2016; 6(3): 21–28p.