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Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter

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datacite.rightshttp://purl.org/coar/access_right/c_abf2spa
dc.contributor.authorMarrugo Tobón, Duván Andrés
dc.contributor.authorVitola, Angie L.
dc.contributor.authorVilla Ramírez, José Luis
dc.contributor.otherPeña, Juan C.
dc.contributor.otherDuque, J.
dc.date.accessioned2023-07-19T21:23:58Z
dc.date.available2023-07-19T21:23:58Z
dc.date.issued2022
dc.date.submitted2023
dc.description.abstractDC motors are used in various industrial, robotic and motion control applications, and generally angular position and speed are used as the main control variables. This paper presents the design of an LQR controller with a Kalman Filter (KF) for state estimation during position and speed control of a DC motor. The proposed controller is evaluated for low and high speed reference profiles to demonstrate its efficiency in different types of applications. This approach is compared with the classical control method using a PID controller. From the results, it is observed that the settling time of the LQR-KF method is less, being 30% more efficient than the PID. In addition, the use of LQR provides an optimal state feedback control that minimizes the quadratic state error and control effort. The experimental results demonstrate the feasibility of the controller design for high precision applications. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.spa
dc.format.extent11 páginas
dc.format.mimetypeapplication/pdfspa
dc.identifier.citationMarrugo, D. A., Vitola, A. L., Peña, J. C., Duque, J., & Villa, J. L. (2022, November). Full State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filter. In Workshop on Engineering Applications (pp. 400-411). Cham: Springer Nature Switzerland.spa
dc.identifier.doi10.1007/978-3-031-20611-5_33
dc.identifier.instnameUniversidad Tecnológica de Bolívarspa
dc.identifier.reponameRepositorio Universidad Tecnológica de Bolívarspa
dc.identifier.urihttps://hdl.handle.net/20.500.12585/12227
dc.language.isoengspa
dc.publisher.placeCartagena de Indiasspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.sourceCommunications in Computer and Information Sciencespa
dc.subject.armarcLEMB
dc.subject.keywordsPID Controller;spa
dc.subject.keywordsVoltage Regulators;spa
dc.subject.keywordsParticle Swarm Optimizationspa
dc.titleFull State Feedback of DC-Motor Position and Speed Control Using LQR and Kalman Filterspa
dc.typeArtículo de revistaspa
dc.type.coarhttp://purl.org/coar/resource_type/c_6501spa
dc.type.driverinfo:eu-repo/semantics/articlespa
dc.type.hasversioninfo:eu-repo/semantics/draftspa
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