Implementation of Integral LQR Controller with Anti-Windup on FPGA

This paper applied linear optimal control theory, to model compound controllers with anti-windup. The proposed approach solves the hardware implementation problem that arises in the non-linear model in integral controller with windup. This work is FPAG implementation using techniques of optimal command applied to a DC motor used in a physical pendulum, based on linear algebra and matrix calculation. The high amount of computation power in limited time can be achieved by using FPGA as a platform. Implementation of our proposed observer and integral LQR controller is done using Xilinx System Generator (XSG) which co-simulated on both software, hardware using Simulink and XGS tools.