The electric motor is one of the technological developments which can support the production process. DC motor has some advantages compared to AC motor especially on the easier way to control its speed or position as well as its widely adjustable range. The main issue in the DC motor is controlling the angular speed with uncertainty and disturbance. The alternative solution of a control method with simple, easy to design, and implementable in a multi-input multi-output system is integral state feedback such as linear quadratic Gaussian (LQG). It is a combination between linear quadratic regulator and Kalman filter. One of the advantages of this method is the usage of fewer sensors compared with the original linear quadratic regulator method which uses sensors as many as the state in the system model. The design, simulation, and experimental study of the application of LQG as state feedback control in a DC-drive system have been done. Both performance and energy were analyzed and compared with conventional proportional integral derivative (PID). The gain of LQG was determined by trial whereas the PID gain is determined from MATLAB autotuning without fine-tuning. The load test and tracking test were carried out in the experiment. Both simulation and hardware tests showed the same result which LQG is superior in integral absolute error (IAE) by up to 74.37 % in loading test compared to PID. On the other side, LQG needs more energy, it consumes higher energy by 6.34 % in the load test.
This paper presents a low speed drive system with a simple and reliable construction, which can be used in an area where there is no power supply (isolated areas, forests, agricultural fields, etc.) and which operates on the basis of two heat sources, one from solar radiation and one provided by water. Alternatively, this system can be used to recover energy from wastewater from industry. The operation and role of the parameters that can influence the value of the rotation speed of the drive system are analyzed through a simulation, maintaining a constant speed in the case of the prototype is achieved through the control system because in real situations the temperature of heat sources can vary within certain limits. The models and tests performed highlight the parameters of the analyzed drive system and the limits of the range in which its speed can vary.