International Journal of Automotive Technology

, Volume 19, Issue 6, pp 959–967 | Cite as

DC Motor Current Control Algorithm Using Proportional-Integral LQT with Disturbance Observer

  • Ung Jon
  • Jihwan Kim
  • Hyeongcheol LeeEmail author


This paper proposes a DC motor current control algorithm using a proportional-integral linear quadratic tracking (LQT) controller with a disturbance observer for the electronic stability control (ESC) brake system. Previously researched algorithms related to current control using disturbance rejection are robust control, adaptive control, LQT, or proportional-integral disturbance observer (PI-DOB); each of them has both advantages and disadvantages. The proposed algorithm uses a disturbance observer in order to improve disturbance rejection performance while avoiding the drawbacks of high gain property. Additionally, the proposed algorithm adds integral control in order to improve performance in the low frequency bands. In order to assess the performance of the proposed algorithm, simulations and experiments are performed in the time and frequency domains to compare the proposed algorithm with different algorithms which are actually implemented into the ESC. The proposed algorithm shows good characteristics near the cut-off frequency, which can be confirmed clearly by the time domain results.

Key Words

Linear quadratic tracking control DC motor Electronic stability control Disturbance rejection Uncertainties Integral action 


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Electrical EngineeringHanyang UniversitySeoulKorea

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