tailieunhanh - Design of LQG controller using operational amplifiers for motion control systems
This paper proposes additional steps to the traditional design procedures for continuous control systems using operational amplifiers. Designing an analog Linear Quadratic Gaussian (LQG) controller is selected as a case study. | Journal of Automation and Control Engineering Vol. 3, No. 2, April 2015 Design of LQG Controller Using Operational Amplifiers for Motion Control Systems Nguyen Duy Cuong, Nguyen Van Lanh, and Dang Van Huyen Faculty of International Training, Thai nguyen University of Technology, Thai nguyen City, Viet nam Email: {nguyenduycuong, lanhnguyen, dtk1051020639}@ Abstract—This paper proposes additional steps to the traditional design procedures for continuous control systems using operational amplifiers. Designing an analog Linear Quadratic Gaussian (LQG) controller is selected as a case study. The controller in the s-domain is firstly designed based on the mathematical model of the plant to be controlled, and then simulated and adjusted. Next, the plant and the controller in the s-domain will be converted to equivalent corresponding continuous electronic circuits using operational amplifiers and continued for simulating. The main purpose of these proposed additional steps is to confirm that converting the controller from s-domain to corresponding analog electronic circuits using operational amplifiers is correct or not. After that, the controller will be implemented and applied to the real setup. For a good design, the simulation results of the resulting controlled system in s-domain, also in equivalent analog electronic circuits, and experimental results in the real setup are almost the same. Index Terms—linear quadratic gaussian (LQG), linear quadratic regulator (LQR), linear quadratic estimator (LQE), motion control systems, operational amplifiers (OpAmp) I. INTRODUCTION In analog control systems, the controllers use continuous devices and circuits. In digital control systems, the controllers use digital devices and circuits. The choice between analog or digital control systems depends on the application requirements. The most important advantage of analog control systems overs digital control systems is that in the analog control systems, any change
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