RCDue - LQ controller and state observer

Abstract

The paper is devoted to education in the field of process control and automation. It shows the design of an LQ controller, which includes a state observer for a general discrete-time state-space model. The proposed controller with state observer is applied to the control of a 4th order electric system and the influence of selected parameters on the behaviour of the closed loop is shown. For comparison, the control is presented by a discrete-time PID controller. The laboratory system RCDue is used to implement the control, allowing the implementation of the proposed controllers in MATLAB environment. The paper is related to previous papers devoted to the description of the laboratory system RCDue and its use for the experimental identification of the mathematical model of the controlled electric system.