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Abstract
The problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear–quadratic optimisation problem using the energy criterion has been investigated. Thus, the possibility of transforming optimal settings of the linear–quadratic regulator into the settings of the controller in the classical control system has been given. The presented methodology has been used during synthesis of control system for a two–wheeled balancing robot. Finally, the performance of the proposed control system has been validated by simulation in Matlab/Simulink environment with the use of a two–wheeled balancing robot model.
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- Publication version
- Accepted or Published Version
- DOI:
- Digital Object Identifier (open in new tab) 10.1109/MMAR49549.2021.9528471
- License
- Copyright (2021 IEEE)
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Details
- Category:
- Conference activity
- Type:
- publikacja w wydawnictwie zbiorowym recenzowanym (także w materiałach konferencyjnych)
- Language:
- English
- Publication year:
- 2021
- Bibliographic description:
- Laddach K., Czyżniewski M., Łangowski R.: A selection of PID type controller settings via LQR approach for two-wheeled balancing robot// / : , 2021,
- DOI:
- Digital Object Identifier (open in new tab) 10.1109/mmar49549.2021.9528471
- Sources of funding:
-
- Young Researcher Support Program, Polish MEiN
- Verified by:
- Gdańsk University of Technology
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