State-feedback control algorithms for a CNC machine

Abstract

The controller of a small size Computer Numerical Controlled (CNC) system is designed and tested. The system is considered to have a Multi Input Multi Output(MIMO) model and two control design techniques are presented for it: Pole-placement and Linear Quadratic Regulator(LQR). The LQR problem is proposed to be solved by choosing the weights matrices using the total energy of the system. The simulation results are evaluated and the controller that meets the desired behavior is implemented on the real machine.