Abstract
The aim of this work, to design an appropriate Kalman filter(KF) with optimal gain as well as a two degree of freedom compensator for the DC motor, verify the stability of the proposed algorithm and the noise sensitivity are carried out. The design of the present algorithm is to combine both 2DOFPID controller with the optimal gain obtained by designing a (KF) to obtain better performance. The sensor noise covariance has been precisely chosen to design of the (KF) through state space model of DC motor. Controllability and observability are the main issues in the analysis of a system before deciding the best control strategy to be applied, or whether it is even possible to control or stabilize the system. Static parameters of a permanent magnet DC motor speed control with external load torque is simulated. The closed loop system and a two degree of freedom (2DOF) PID controller designed on the basis of the robust response tuning method. However, both no load and load current , speed and torque obtained. The (KF) speed response with the error between actual speed and estimated speed obtained. The robustness of the proposed algorithm checked through a 2DOF PID controller development. Comparison between classical PID speed response with 2DOF PID speed response carried out. The senses against the noise are approved as well as the torque and current in load and no load has been compared. The simulated results of the proposed algorithm improved performance operation and shows the effectiveness of the compensator new technique compared to the classical one.