A design method of a model-following control system

Abstract

This paper describes and demonstrates a model-following control system that is based on a switching function where an optimal gain matrix is determined by the LQR method. In our proposed method, the optimal gain matrix is derived such that it does not depend on the plant parameters. Simulation results show various cases including the nominal plant and the plant with a modeling error. The experimental study is also performed using a DC motor. The simulation and experimental results show that the proposed method has superior effectiveness.