Stability Control System for DC Motors Using Proportional-Integral-Derivative (PID) and Linear Quadratic Regulator (LQR) Methods

Abstract

A DC motor is widely applied due to its ease of use and extensive range of speed regulation, making it popular in various sectors such as industry, robotics, and households. The series DC motor, one of the motor types, is known for its high starting torque, which often results in overshooting at startup. It also exhibits less stability, where speed decreases at higher torque and increases when there's no load. However, without a load, the motor can reach excessively high speeds. In motor applications, it is essential to have the ability to adjust speed. Additionally, regulating smooth rotation is important to minimize vibrations and mechanical shocks during startup. To solve these problems, a control system is required, primarily addressing issues like overshoot, settling time, and system stability when the motor aims to reach a steady state. This is achieved through the use of a PID controller and a Linear Quadratic Regulator (LQR).