ANALYSIS OF LQR CONTROL COMBINATION WITH EXTENDED STATE OBSERVATION (ESO) WITH NON-LINEAR CONTROL FOR TWO-MASS SYSTEM

Abstract

The paper presents the control design of linear quadratic regulator (LQR) for
speed controller of two mass system. This controller is combined with an extended
state observer (ESO) for estimating the system variables (torque and speed at motor
and load sides) of two-mass systems. The effectiveness of the control systems is
compared with the flatness based control, wich, is suitable for this system. The
results of analysis and evaluation between the speed control methods for the twomass system were performed by Matlab simulation software.