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arXiv · 2309.14086

A selection of PID type controller settings via LQR approach for two-wheeled balancing robot

Krzysztof Laddach·Mateusz Czyżniewski·Rafał Łangowski
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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.

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Krzysztof Laddach, Mateusz Czyżniewski, Rafał Łangowski. 2023-09-25. A selection of PID type controller settings via LQR approach for two-wheeled balancing robot. https://doi.org/10.1109/mmar49549.2021.9528471.

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