A selection of PID type controller settings via LQR approach for two-wheeled balancing robot
Systems and Control
2023-09-26 v1 Systems and Control
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.
Keywords
Cite
@article{arxiv.2309.14086,
title = {A selection of PID type controller settings via LQR approach for two-wheeled balancing robot},
author = {Krzysztof Laddach and Mateusz Czyżniewski and Rafał Łangowski},
journal= {arXiv preprint arXiv:2309.14086},
year = {2023}
}
Comments
Conference paper