LQR Based Advanced Tuning of PID Controller for Trajectory Tracking of DC Servo Motor

The primary focus of this study is to demonstrate in detail the use of Linear Quadratic Regulator (LQR) to tune the PID controller for Trajectory Analysis. Trajectory Tracking in an exploratory manner in a didactic setting platform made up of a DC motor. Advanced LQR tuning methodology, explained in this study guarantees the trajectory control more efficient in real practice. Considering fundamental state space model of DC motor, the LQR tuning rule to tune PID controller is explained and to make this PID controller more robust, a new control law based on MRAS is interwind. The effectivity of the proposed controller is justified following MATLAB-Simulink platform.