A design of PID controller for servomechanism using optimal control theory

최적 제어 이론을 이용한 서어보 메카니즘의 PID 제어기 설계

This paper presents a design method for PID controller using optimal control theory. The procedures of the applied method consist of (1) sampling the system response to the test signal, (2) processing the sampled data using RPE method to identify the parameters of the plant, (3) calculating the optimal value of the PID controller parameters using LQ theory. This controller is implemented on the digital computer and applied to real servomechanism, yielding satisfactory result.