Implementation and Comparison of PID, PI-PD, LQR and MPC on Separation Clutch System in Slip

Although the usage and investment on hybrid vehicles are increased in recent years, the production is demanding solutions due to complex structures. In this paper, it is aimed to provide a modular control algorithm for separation clutch closing process in hybrid vehicles by using well-studied theoretical control methods. The system is controlled by PID, LQR and MPC methods with both classical and further approaches. Then, the results of further approaches (PI-PD, LQR with known disturbances, and Multi-MPC) are compared in terms of performance and control cost. Multi-MPC has the best performance with highest controller cost while LQR with known disturbances has performed between the other two controllers. Moreover, PI-PD has the lowest controller cost and best performance for slip speed but it is not able to control the slip speed change.