LQG/LTR based reference tracking for a modular servo

The paper presents an application of the LQG/LTR controller for a motion system – a laboratory modular servosystem. Basic results on LQ regulator and Kalman filter designs are briefly surveyed and tuning of their combination – the LQG controller is shown. Based on comparison of frequency properties of the LQR and LQG controllers, the LTR methodology is applied to fine-tune the LQG in order to improve its robustness. LQG/LTR speed controller for the modular servosystem plant was designed based on noisy measurements of the angular displacement. Simulation and experimental results illustrate implementation of the LQG controller.