Design and simulation linear quadratic gaussian (LQG) for pan-tilt face tracking camera servos

The 2DOF face tracking system consists of two servo motors (pan and tilt) and a camera. Both are integrated with each other and are tasked with accurately tracking each facial movement. The high performance of the system depends on the desired specifications, that is the servo can move smoothly according to facial movements. Therefore it is necessary to design an appropriate servo control method. This paper presents the Linear Quadratic Controller (LQG) control method that is simulated to the servos. The design steps include system modeling, LQG control design, and simulation. The LQG control method is one of the optimal control methods, so this paper also discusses the basic principles of optimal control design. The output of the paper can be a reference in the implementation of the servo control system that will be connected with a face tracking control system. The simulation results show that the pan system produces a system response with a rise time of 0.8614 ms and 0% overshoot. While on the tilt system, the system response with rising time is 0.951067 ms and overshoot is 0%.