The PID high-type controller based on LQR and model-assisted LESO

Abstract

The work described in this paper proposes a PID high-type controller turning via Linear Quadratic Regulator (LQR) approach and pole-placement technique to level up dynamic response performance and disturbance suppression ability of the system. Meanwhile, considering the influence of the modeling error and uncertain disturbance on the stability of the control system, this paper extends the design method of the Linear Extended State Observer (LESO) to PID high-type control loop. In this paper, the tuning rule of PID high-type controller parameters without delay factor and the tuning rule of PID high-type controller parameters with delay factor are given. Finally, the simulation analysis and experimental results show that performance of the PID high-type controller are superior to the PD controller in traditional LESO and the PID type-i controller. Specifically, the system under the PID high-type controller not only eliminates the high-order steady-state error, but also can achieve high-precision tracking when the reference signal changes quickly. Meanwhile, disturbance suppression ability of the system and the dynamic response performance of the system such as rise time, settling time are significantly improved.