Digital state feedback position control in an embedded platform for transport systems

Abstract

In this paper, a digital state feedback and observer-based position control is proposed using dsPIC30F4013 microcontroller. This method is an alternative to the classical control mostly used in the industry and it is an example of an optimal technique. For a state feedback design, a thorough description of the digital state-space model is needed to design the observer. The proposed control system is evaluated using state feedback position control with observer implemented on a cartridge transport system. Result shows that state feedback control is a good alternative to classical control and it is an intuitive way of designing a control system since measureable plant characteristics are included in the feedback control code in the firmware.