Performance evaluation of PID, LQR and MPC for DC motor speed control

Abstract

Electrical drives play an important role in the implementation of tasks for increasing productivity in various industries, for automation and complex mechanization of production processes. In this paper three strategies; a classical Proportional-Integral-Derivative (PID), a Linear Quadratic Regulator (LQR) and a Model Predictive Control (MPC) are designed and implemented for the DC motor speed control. All these strategies are compared on the basis of output response, steady state error, controller efforts, and constraints handling for the reference tracking. Performed simulations shows that though the controller efforts are less in PID and LQR but MPC outperforms for reference tracking and constraints handling.