PERFORMANCE COMPARISON OF LQR AND LESO-BASED CONTROL STRATEGIES FOR ROBUST DC MOTOR REGULATION

This study evaluates two modern control strategies applied to Separately Excited DC Motors (SEDCM) to achieve robust speed regulation. The performance of SEDCM in applications like automation and robotics is usually affected by internal or external disturbances. The Linear Quadratic Regulator (LQR) strategy uses a cost-minimal algorithm to generate state feedback to obtain optimal tracking. Linear Extended State Observer (LESO) is a robust control strategy that estimates system states and disturbances and applies for real-time compensation. The performance of these two control strategies employed on an SEDCM was evaluated for tracking performance, and disturbance rejection. This study also analyzed the impact of LESO gain values for pole placement. Proper selection of gain values ensures faster response, lower overshoot, and stability. The results show that both the control strategies ensure the desired tracking performance but LESO shows superior performance both in time response and in disturbance rejection, which will make LESO suitable for many similar applications.