Optimal State Space Control of DC Motor

Abstract In comparison to classical cascade control architecture of DC motors, the state feedback control offers advantages in terms of design complexity, hardware realization and adaptivity. This paper presents a methodic approach to state space control of a DC motor. The state space model identified from experimental data provides the basis for a linear quadratic regulator (LQR) design. The state feedback linear control is augmented with a feedforward control for compensation of Coulomb friction. The controller is successfully applied and the closed loop behavior is evaluated on the experimental testbed under various reference signals.