Linear quadratic gaussian (LQG) controller design for servo motor

This paper presents the development of Linear Quadratic Gaussian controller design forDC servo motor.The accuracy of the control system is directly proportional to servo motor precision. However, the precision of DC servo motor system difficult to achieved due to the ignorance of the sensor noise...

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Main Author:	Wan Mohd, Wan Syahidah
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/6837/1/24p%20WAN%20SYAHIDAH%20WAN%20MOHD.pdf http://eprints.uthm.edu.my/6837/2/WAN%20SYAHIDAH%20WAN%20MOHD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6837/3/WAN%20SYAHIDAH%20WAN%20MOHD%20WATERMARK.pdf
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id	my-uthm-ep.6837
record_format	uketd_dc
spelling	my-uthm-ep.68372022-03-28T01:30:04Z Linear quadratic gaussian (LQG) controller design for servo motor 2013-06 Wan Mohd, Wan Syahidah TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) This paper presents the development of Linear Quadratic Gaussian controller design forDC servo motor.The accuracy of the control system is directly proportional to servo motor precision. However, the precision of DC servo motor system difficult to achieved due to the ignorance of the sensor noise and plant disturbance. Therefore LQG controller has been design to control speed and position of DC servo motor. In LQG controller designed, the noise sensor and plant disturbance has been considered as white noise Gaussian. This controller has be designed based on combination of Steady-state Linear Quadratic (LQ)OptimalControl and Steady-state Kalman Filter State Estimation by solving matrix Riccati equation in order to determine steadystate feedback gain, K and steady-state Kalman gain, G. MATLAB Simulink and MFile approached have been done to simulate the design. Besides that, Arduino microcontroller board also has been explored in order to do real-time Simulation between LQG controller and DC servo motor. The step response of closed-loop digital control system using LQG controller and opened-loop control system have been compared to verified that the performance of closed-loop control system better than opened-loop system 2013-06 Thesis http://eprints.uthm.edu.my/6837/ http://eprints.uthm.edu.my/6837/1/24p%20WAN%20SYAHIDAH%20WAN%20MOHD.pdf text en public http://eprints.uthm.edu.my/6837/2/WAN%20SYAHIDAH%20WAN%20MOHD%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6837/3/WAN%20SYAHIDAH%20WAN%20MOHD%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Wan Mohd, Wan Syahidah Linear quadratic gaussian (LQG) controller design for servo motor
description	This paper presents the development of Linear Quadratic Gaussian controller design forDC servo motor.The accuracy of the control system is directly proportional to servo motor precision. However, the precision of DC servo motor system difficult to achieved due to the ignorance of the sensor noise and plant disturbance. Therefore LQG controller has been design to control speed and position of DC servo motor. In LQG controller designed, the noise sensor and plant disturbance has been considered as white noise Gaussian. This controller has be designed based on combination of Steady-state Linear Quadratic (LQ)OptimalControl and Steady-state Kalman Filter State Estimation by solving matrix Riccati equation in order to determine steadystate feedback gain, K and steady-state Kalman gain, G. MATLAB Simulink and MFile approached have been done to simulate the design. Besides that, Arduino microcontroller board also has been explored in order to do real-time Simulation between LQG controller and DC servo motor. The step response of closed-loop digital control system using LQG controller and opened-loop control system have been compared to verified that the performance of closed-loop control system better than opened-loop system
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Wan Mohd, Wan Syahidah
author_facet	Wan Mohd, Wan Syahidah
author_sort	Wan Mohd, Wan Syahidah
title	Linear quadratic gaussian (LQG) controller design for servo motor
title_short	Linear quadratic gaussian (LQG) controller design for servo motor
title_full	Linear quadratic gaussian (LQG) controller design for servo motor
title_fullStr	Linear quadratic gaussian (LQG) controller design for servo motor
title_full_unstemmed	Linear quadratic gaussian (LQG) controller design for servo motor
title_sort	linear quadratic gaussian (lqg) controller design for servo motor
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/6837/1/24p%20WAN%20SYAHIDAH%20WAN%20MOHD.pdf http://eprints.uthm.edu.my/6837/2/WAN%20SYAHIDAH%20WAN%20MOHD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6837/3/WAN%20SYAHIDAH%20WAN%20MOHD%20WATERMARK.pdf
_version_	1747831092377812992

Linear quadratic gaussian (LQG) controller design for servo motor

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