| Title |
Filter Compensation type LQ-PID Controller Design Using Loop Shaping Method |
| Authors |
정형근(Houng-Kun Joung) ; 이호준(Ho-Joon Lee) ; 김창현(Chang-Hyun Kim) |
| DOI |
https://doi.org/10.5370/KIEEP.2022.71.2.117 |
| Keywords |
PID control; LQR control; Ziegler-Nichols tuning Method; Loop Shaping Method; Filter |
| Abstract |
System control requires high-speed response performance, stability, and robustness. However, tuning controller design parameters for high-speed response performance, stability, and robustness is a challenging task. The LQ-PID controller design parameter tuning method proposed in this paper satisfies the design condition since it ensures stability and robustness, which are the advantages of LQR control and the design weighting factors Q and R are selected using the loop shaping method. Since the proposed method achieves the characteristic of avoiding the high-and the low-frequency region through the setting of the filter coefficients included in the two zero points and the differential time term of the PID controller. it satisfies the performance in the frequency domain with improved features compared to the existing LQ-PID controller design parameter tuning method. |