Publications Repository - Gdańsk University of Technology

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.

Authors

• mgr inż. Krzysztof Laddach link open in new tab ,
• mgr inż. Mateusz Czyżniewski link open in new tab ,
• dr inż. Rafał Łangowski link open in new tab