A scheme to control the speed of a DC motor with time delay using LQR-PID controller

摘要

In this paper we have designed an optimal PID controller for the speed control of a DC motor. The optimal Linear Quadratic Regulator (LQR) based PID controller is derived analytically for the second order transfer function of the DC motor with time delay. The state weighting matrices of the LQR are used for finding the set of optimal PID gains. We have compared the results with the previously developed results of LQR-PID and found that the present approach of PID tuning gives the speed control of the DC motor more close to the desired damping ratio and natural frequency.