ANALYSIS OF THEORETICAL AND EXPERIMENTAL EFFICIENCY OF COMBINING KALMAN FILTER AND PID FOR DC MOTOR SPEED CONTROL

Abstract

The Proportional-Integral-Derivative (PID) controller is a widely used automatic control method in various fields. Numerous tuning methods have been developed to achieve optimal performance for PID control systems. This paper presents the design of a PID control system combined with a Kalman filter, capable of maintaining optimal performance for DC motors based on the Integral of Absolute Error (IAE) criterion. The IAE value for the classical PID is 1.1872, while the IAE value for the combined system (Kalman filter integrated with the PID controller) K_PID is 0.769. Experimental results demonstrate that integrating the Kalman filter significantly improves the performance of the PID controller, particularly in minimizing the impact of noise.