ISSN (Online) : 2456 - 0774

Email : ijasret@gmail.com

ISSN (Online) 2456 - 0774


ANALYTICAL STUDY OF PID AND LQR: APPLICATION TO ROBOTIC MANIPULATOR


Abstract

Abstract: PID and LQR arethe basic controllers but industries are using PID as the conventionalcontroller for many years. In these paper we have performed the analyticalstudy of the two controlling strategies for controlling the robotic manipulator.A classical Proportional Integral Derivative (PID) and Linear QuadraticRegulator (LQR) have been simulated in NI Lab View for this and we haveconsidered PMDC motor for controlling the robotic manipulator for this. Thisstrategy used basic comparison of time domain and frequency domain parametersof the PID and LQR simulation. A real time embedded evaluation board is usedfor this.

Keywords: - PID, LQR, LabView, MyRio,G- programming


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