2026-04-272026-04-272026-03-06FARIAS, Sandy Hiorrana Lima. Implementação e análise experimental do controle LQG em uma planta MIMO 2-DoF. Orientador: Antonio Da Silva Silveira. 2026. 52 f. Trabalho de Curso (Bacharelado em Engenharia Elétrica e Biomédica) – Faculdade de Engenharia Elétrica e Biomédica, Instituto de Tecnologia, Universidade Federal do Pará, Belém, 2026. Disponível em: https://bdm.ufpa.br/handle/prefix/9495. Acesso em:.https://bdm.ufpa.br/handle/prefix/9495The design of controllers for multivariable MIMO (Multiple-Input, Multiple-Output) systems, characterized by strong coupling among their multiple inputs and outputs, is inherently more complex. In this context, this work presents the application of a Linear Quadratic-Gaussian (LQG) controller, which integrates the Linear-Quadratic Regulator (LQR) with a Kalman Filter for state estimation, to a physical two-degree-of-freedom (2-DoF) plant called H2-DoF. The controller design is based on state-space modeling, including the implementation of a static DC-gain precompensator and model augmentation to ensure reference tracking. The complete LQG controller was implemented in real time on the physical plant, whose data acquisition hardware was updated with an ESP32 microcontroller and power modules for PWM actuation. The experimental results showed that the LQG strategy could be successfully implemented on the H2-DoF plant, providing system stabilization and satisfactory reference tracking. Thus, the study demonstrates the experimental applicability of the controller in the context of the investigated platform and reinforces the didactic potential of using modern control techniques in real physical systems.Acesso AbertoSistemas MIMOControle LQGRegulador LQRFiltro de KalmanH2 DoFMIMO systemsLQG controlLQR regulatorKalman filterCNPQ::ENGENHARIAS::ENGENHARIA ELETRICATrabalho de Curso - Graduação - Monografia