Introduction

Plant Model
MATLAB
Transfer Function:
S=tf(‘s’);
Plant_motor = K/((J*s+b)*(L*s+R)+K^2);
State space:
A = [-b/J K/J
-K/L -R/L];
B = [0
1/L];
C = [1 0];
D = 0;
motor_ss = ss(A,B,C,D)
Objectives
• Designing of DC motor as a plant by considering the particular ratings
and its parameters.
• Specifying Transfer function and steady state model.
• Applying PID, LQR, MPC and adaptive MPC controller with DC motor.
• Comparing results of all the controllers with different inputs.
• Identifying controllers from best to worst.
 PID controller
• Time domain (“ideal” PID)

• Laplace domain (“ideal”/”parallel” form)

• How difficult can it be to tune???

•

• Surprisingly difficult without systematic approach!

PID controller tuning for DC motor
Reduction of settling time for steady output:
• Proportional controller: Improve rise time
• Derivative controller: Reduce overshoot by reducing actual and
desired value of dc motor.
• Integral Controller: Steady state error remove by increasing the gains
Advantages and Disadvantages of PID
controller
Advantage:
• For the simplest model like DC motor, it is easy to tune.
• Provides a reasonable solution, when three parameters (P,I,D) are handled
carefully.

Disadvantage:
• Never reaches set point. We can not get desired speed of motor using PID
controller.
• By the time when error occurs, motor speed, then just be adjusted and
action is taken.
 Specifications of FSFC
LQR Controller

Closed loop system

ሶ
𝒙=(A-BK)x
Characteristics poles and eigen values will be as
|sI-A| for open loop system |sI-(A-BK)| for closed loop system

By suitably changing the gain K we can actually place the all eigen values to the
required position
Control Law
u=-KX
Characteristic Equation of the closed loop plant

Where, K=[k1,k2,……,kn]

K should drive the closed loop system without external input from any
initial state to the zero state minimizing the cost function in the
following equation

We are adding penalties to the state

As Q and R
Advantages and Disadvantages of LQR
Advantage:
• LQR is good at set point tracking.
• Disturbances rejection: to enforce the zero steady state error we use
cost function.

Disadvantage:
• Its main disadvantage is that can't work with constraints.
MPC
Replacement of traditional controllers by predictive controllers MPC and we
performed some comparison regarding their performances for the same DC motor.
DC motor
MPC Controller tuning for DC motor
• Sample time (Ts ) decreases, rejection of unknown disturbance usually improves.
• Ts becomes small, the computational effort increases dramatically.
• As prediction horizon (p) increases, the controller memory requirements and QP solution
time increase.
• p must vary inversely with Ts.
• Suppose that the current control interval is k. The prediction horizon, p, is the number of
future control intervals the MPC controller must evaluate by prediction when optimizing
its MVs at control interval k.
• The control horizon, m, is the number of MV moves to be optimized at control interval k.
• The control horizon falls between 1 and the prediction horizon p.
• Small m means fewer variables to compute at each control interval, which promotes faster
computations.
• Small m promotes (but does not guarantee) an internally stable controller.
Advantages and Disadvantage of MPC
Advantage:
• Control of multiple variables within bounds. In case of DC motor two inputs are
being used one as a reference input and other an output from plant as an input of
mpc.
• Steady state response improvement. At a certain point after being tracked by a
plant output mpc removes steady state error by increasing prediction horizon (p).
• Settling time reduce due to the reduction of steady state error and improvement in
rise time.

Disadvantage:
• Requires fast computational hardware if prediction and control horizon increases.