Speed Control of DC Motor using Extended Kalman Filter (EKF) and Particle Swarm Optimization (PSO) based PI-Controller.
The experiment shows that the speed is estimated quite accurately with an error of around 0.5 RMSE between the actual and estimated speed. The error reduces significantly as steady-state is reached.
For the PSO, the modified fitness function performed much better than the standard ITAE when optimizing this system, showing a 50% overshoot decrease without sacrificing the quality of the other transient responses.
For more details, check the documents folder.