Integral State Feedback Control Using Linear Quadratic Gaussian in DC-drive System
Supriyanto Praptodiyono (1), Hari Maghfiroh (2*), Joko Slamet Saputro (3), Agus Ramelan (4) (1) Departement of Electrical Engineering Sultan Ageng Tirtayasa University (UNTIRTA) - Indonesia
(2) Department of Electrical Engineering, Sebelas Maret University - Indonesia
(3) Department of Electrical Engineering, Sebelas Maret University - Indonesia
(4) Sebelas Maret University - Indonesia
(*) Corresponding Author
Received: April 05, 2021; Revised: September 14, 2021
Accepted: September 28, 2021; Published: December 31, 2021
Abstract
The electric motor is one of the technological developments which can support the production process. DC motor has some advantages compared to AC motor especially on the easier way to control its speed or position as well as its widely adjustable range. The main issue in the DC motor is controlling the angular speed with uncertainty and disturbance. The alternative solution of a control method with simple, easy to design, and implementable in a multi-input multi-output system is integral state feedback such as linear quadratic Gaussian (LQG). It is a combination between linear quadratic regulator and Kalman filter. One of the advantages of this method is the usage of fewer sensors compared with the original linear quadratic regulator method which uses sensors as many as the state in the system model. The design, simulation, and experimental study of the application of LQG as state feedback control in a DC-drive system have been done. Both performance and energy were analyzed and compared with conventional proportional integral derivative (PID). The gain of LQG was determined by trial whereas the PID gain is determined from MATLAB autotuning without fine-tuning. The load test and tracking test were carried out in the experiment. Both simulation and hardware tests showed the same result which LQG is superior in integral absolute error (IAE) by up to 74.37 % in loading test compared to PID. On the other side, LQG needs more energy, it consumes higher energy by 6.34 % in the load test.
http://dx.doi.org/10.14203/jet.v21.79-84 Keywords
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