Can One LQR Controller Handle a Nonlinear DC Motor? | Fixed vs. Robust LQR on Real Hardware/Simulink

In this video, we put two control strategies to the test on a real DC motor: Fixed LQI and Robust LQI. 🔹 Fixed LQI: designed around one nominal motor model. 🔹 Robust LQI: designed using five experimentally identified local models to account for variations across the motor's operating range. Both controllers are implemented in real time using MATLAB/Simulink and Arduino, with measured motor-speed feedback and a PWM–RPM lookup table. But here is the interesting part: the results are not a simple victory for either controller! 📊 Robust LQI achieves lower integral absolute error (IAE) and root-mean-square error (RMSE), while Fixed LQI delivers lower overshoot and faster average settling time. So, does using more models guarantee better control? And can we improve robust LQI without sacrificing its tracking accuracy? Watch the real-time responses, examine the performance metrics, and decide for yourself. 💬 Your turn: Would you prioritize tracking accuracy, lower overshoot, or faster settling? What would you try next to improve robust LQI? Watch other parts: Part 1 - A Real DC Motor Speed Controller - Oen Loop SetUp:   • A Real DC Motor Speed Controller — Part 1:...   Part 2 - Can One PI Controller Control a Nonlinear DC Motor:    • Can One PI Controller Control a Nonlinear ...   A copy of the files can be found at: https://github.com/rejnt80/Real-Time-... #ControlSystems #LQI #RobustControl #MATLAB #Simulink #DCMotor #Arduino #LQR #ControlEngineering #RealTimeControl