Full Order Observer-based LQR Position Servo Controller

The paper introduces a novel approach for improving the positional dynamic performance in a servo control system through the amalgamation of a state observer and an LQR regulator. Initially, a comprehensive mathematical representation of the servo system is formulated, serving as the foundation for developing a linear state observation mechanism. Subsequently, drawing on principles from optimal control theory, a state feedback controller based on LQR(Linear Quadratic Regulator) is meticulously crafted. The validity of this proposed strategy is then authenticated through rigorous simulation studies.