LQR POSITION AND VELOCITY CONTROLLER

LINEAR QUADRATIC REGULATOR CONTROLLER DESIGN FOR POSITION AND VELOCITY

Individual Project Requirements:

To create a Linear Quadratic Regulator controller to control position and velocity of a DC motor using the parameters obtained in System Identifcation Project.

Parts used:

xPC target;
National Instruments 6024E card;
DC motor;
DC motor driver;
Hook-up wires.

Procedure:

Simulink Model was developed to control position as in the following:

Exploded view of LQR block for position:

Exploded view of DC Motor and Driver block:

Similarly, Simlink Model was developed for Velocity control:

Exploded view of LQR block for velocity control:

NOTE: the actual xPC target was not available during the demonstration of Simulink model, therefore, unavailable blocks are shown as Bad Link.