Q-parameterization Control for a Class of DC Motor

Abstract

The DC motor speed control is commonly used in several robotic applications. Thus the controller design for the DC motor speed control is a compulsory to optimize the performance of the motor towards the system design specification. In this paper the DC motor mathematical model is obtained then Three linear controllers, which are PID, LQR, and Q-parameterization controllers are designed for controlling the DC motor speed. The performance of the control techniques is compared in terms of transient response and steady state error performance. The comparison amongst the controller shows that the Q-parameterization controller significantly reduces the transient response performance and also steady state error.