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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| Format: | Thesis |
| Language: | en en en |
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2013
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| 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 http://eprints.uthm.edu.my/6837/ |
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| _version_ | 1833418205220044800 |
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| author | Wan Mohd, Wan Syahidah |
| author_facet | Wan Mohd, Wan Syahidah |
| author_sort | Wan Mohd, Wan Syahidah |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 |
| id | my.uthm.eprints-6837 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en en en |
| publishDate | 2013 |
| record_format | eprints |
| spelling | my.uthm.eprints-68372022-03-28T01:30:04Z http://eprints.uthm.edu.my/6837/ Linear quadratic gaussian (LQG) controller design for servo motor 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 NonPeerReviewed text en http://eprints.uthm.edu.my/6837/1/24p%20WAN%20SYAHIDAH%20WAN%20MOHD.pdf text en http://eprints.uthm.edu.my/6837/2/WAN%20SYAHIDAH%20WAN%20MOHD%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/6837/3/WAN%20SYAHIDAH%20WAN%20MOHD%20WATERMARK.pdf Wan Mohd, Wan Syahidah (2013) Linear quadratic gaussian (LQG) controller design for servo motor. Masters thesis, Universiti Tun Hussein Malaysia. |
| spellingShingle | TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) Wan Mohd, Wan Syahidah Linear quadratic gaussian (LQG) controller design for servo motor |
| title | 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_short | Linear quadratic gaussian (LQG) controller design for servo motor |
| title_sort | linear quadratic gaussian (lqg) controller design for servo motor |
| topic | TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) |
| 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 http://eprints.uthm.edu.my/6837/ |
| url_provider | http://eprints.uthm.edu.my/ |