LQR-based PID Control of DC Motor Speed

The aim of this study is to synthesis a LQR-based PID controller and compare the results of using such a controller with these from systems with a PID controller and a LQR controller. The comparison proves that the LQR-based PID controller is more efficient by 6.59% reduction in energy consumption than a system with a PID controller. Furthermore, it is shown that such controller increases only with 1.73% energy consumption as opposed to LQ regulator. Also, this paper presents the advantage of the LQR-based PID controller regarding the avoidance of additional feedback on armature current.