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Anisa Fitri Santosa
Bio-Industrial Mechatronics Engineering, National Chung Hsing University
Aerospace Engineering Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering

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Comparative Evaluation of LQR and LQT for VD-49.15-K1-B00 Brushless DC Servomotor Tracking Under Noise Anisa Fitri Santosa; Anggara Trisna Nugraha; Rama Arya Sobhita; Dimas Eka Saputra
SAINSTECH NUSANTARA Vol. 3 No. 1 (2026): February 2026
Publisher : Nusantara Publisher

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.71225/jstn.v3i1.102

Abstract

Compact brushless direct-current servomotors require controllers that combine rapid reference tracking, low transient error, and tolerance to measurement disturbance. This study presents a harmonized simulation-based comparison of linear quadratic regulator (LQR) and linear quadratic tracking (LQT) control for the VD-49.15-K1-B00 three-phase external-rotor servomotor. Manufacturer specifications were revalidated, the plant was represented in state-space form, and both optimal-control structures were assessed in MATLAB/Simulink under nominal and additive-noise conditions. Performance was quantified using 10–90% rise time, 2% settling time, percentage overshoot, and normalized root-mean-square error (RMSE) over a common evaluation interval. Without noise, LQT reduced rise time from 0.45 to 0.30 s, settling time from 0.80 to 0.65 s, and RMSE from 2.5% to 2.0%, while overshoot increased from 1.0% to 3.0%. With noise, RMSE increased to 4.5% for LQR and 4.0% for LQT. The results therefore indicate a practical speed–overshoot trade-off: LQT provides faster and more accurate tracking in the evaluated conditions, whereas LQR limits the nominal peak excursion.
Co-Authors Anggara Trisna Nugraha Dimas Eka Saputra Rama Arya Sobhita