Régulateur Linéaire Quadratique de Vitesse de Moteur à Courant Continu

Abstract

The work presented in this thesis concerns the modeling and the control of a direct current machine using two control techniques in the state space, namely, the integral proportional control and the quadratic linear control LQR. In this context, the LQR controller is introduced to remedy the short comings of the classic PI, especially in terms of robustness with respect to the proportional and integral gain variations (Kp, Ki) of PI. The LQR command has shown its effectiveness in controlling the direct current machine but it remains linked to the correct choice of weighting matrices.