Meta-Heuristic LQI Bio-regulator Benchmark for a Permanent Magnet DC Motor on ARM Platform

N. D. Chimborazo-Taipe, E. L. Torres-Hinojosa, W. M. Montalvo-Lopez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


There are controllers such as the Linear Quadratic Controller plus Integral part (LQI) that have presented favorable results in critical and complex processes, however, one of the disadvantages of this controller is the parameterization of the Q and R matrices, since they are obtained based on the cost of the controller and a trial and error method. Therefore, the present study aims to optimize these parameters through meta-heuristic algorithms such as: Genetic Algorithms (GA), Bacterial Foraging Optimization (BFO) and Ant Colony Optimization (ACO). In the MATLAB/SIMULINK software, the control loop programming is performed, using the control blocks of the Waijung library and with the STM32F407 card with Advanced Risk Machine (ARM) processor, the capture, reading and processing of data from the plant containing the DC motor for control is obtained. To validate the efficiency of the controller, the Integral of the Absolute Value of the Time Weighted Error (ITAE) is used and together with the Wilcoxon statistical method, it compares the optimization methods or techniques performed in the LQI controller. Interesting and favorable results were obtained for the stability and viability of each bio-controller at the moment of applying them in the speed control of the DC motor.

Original languageEnglish
Title of host publicationCommunication and Applied Technologies - Proceedings of ICOMTA 2022
EditorsPaulo Carlos López-López, Ángel Torres-Toukoumidis, Andrea De-Santis, Óscar Avilés, Daniel Barredo
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages11
ISBN (Print)9789811963469
StatePublished - 2023
EventInternational Conference on Communication and Applied Technologies, ICOMTA 2022 - Cuenca, Ecuador
Duration: 7 Sep 20229 Sep 2022

Publication series

NameSmart Innovation, Systems and Technologies
ISSN (Print)2190-3018
ISSN (Electronic)2190-3026


ConferenceInternational Conference on Communication and Applied Technologies, ICOMTA 2022

Bibliographical note

Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.


  • Ant colony optimization (ACO)
  • Bacterial foraging algorithm (BFO)
  • Genetic algorithms (GA)
  • Integral of time multiplied absolute error (ITAE)
  • Linear quadratic plus integral (LQI)


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