Optimal controller and controller based on differential flatness in a linear guide system: A performance comparison of indexes

Abstract

The use of linear slide system has been augmented in recent times due to features granted to supplement electromechanical systems; new technologies have allowed the manufacture of these systems with low coefficients of friction and offer a variety of types of sliding. In this paper, we present a comparison between the performance indexes of two techniques of control applying optimal control LQR (Linear Quadratic Regulator) acronym for STIs in English and the technique of differential flatness controller. The use of linear slide bolt of potency takes into account the dynamics of the DC motor; the Euler-Lagrange formalism was used to establish the mathematical model of the slide. Cosimulation via the MATLAB/Simulink-ADAMS virtual prototype package, including realistic measurement disturbances, is used to compare the performance indexes between the LQR controller versus differential flatness controller for the position tracking of linear guide system.