Publication Type:

Journal Article


International Journal of Control Theory and Applications, Serials Publications, Volume 9, Number 15, p.7387-7394 (2016)



DC motors are having wide range of application from household appliances to large industrial machinery at various speed conditions. In this paper, speed control of a separately excited direct current (DC) motor under load conditions has been implemented using CHR tuning and LQR controllers. The Chien - Hrones - Reswick (CHR) is based on a Proportional Integral Derivative controller (PID) tuning and Linear Quadratic Regulator controller (LQR) is based on an optimal controller. Comparison of both the methods have been done based on transient response specifications. Simulations in MATLAB have shown that the performance of the DC motor has significantly improved quality response with the LQR method over the CHR method. It has also minimized deviation from the desired speed, with the LQR method. This can lead to significant improvement when implemented in applications viz. robotics, process control and cruise control.


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Cite this Research Publication

G. Seeja, Saisudha, V., Manikutty, G., Rao R. Bhavani, and V. Pillay, R., “Speed analysis of DC motor under load and no load condition using CHR based PID and LQR optimal controller”, International Journal of Control Theory and Applications, vol. 9, pp. 7387-7394, 2016.