LQG/LTR based reference tracking for a modular servo

The paper presents an application of the LQG/LTR controller for a motion system – a laboratory modular servosystem. Basic results on LQ regulator and Kalman filter designs are briefly surveyed and tuning of their combination – the LQG controller is shown. Based on comparison of frequency properties...

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Bibliographic Details
Published in:Journal of Electrical Systems and Information Technology 2015-12, Vol.2 (3), p.347-357
Main Authors: Kozáková, Alena, Hypiusová, Mária
Format: Article
Language:English
Subjects:
Kalman filter
LQG/LTR
Motion systems
Reference tracking
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Summary:The paper presents an application of the LQG/LTR controller for a motion system – a laboratory modular servosystem. Basic results on LQ regulator and Kalman filter designs are briefly surveyed and tuning of their combination – the LQG controller is shown. Based on comparison of frequency properties of the LQR and LQG controllers, the LTR methodology is applied to fine-tune the LQG in order to improve its robustness. LQG/LTR speed controller for the modular servosystem plant was designed based on noisy measurements of the angular displacement. Simulation and experimental results illustrate implementation of the LQG controller.
ISSN:2314-7172
2314-7172
DOI:10.1016/j.jesit.2015.11.002