Modeling and controller design of an inverted pendulum system using AI approach

This project presents the simulation study of few different control approaches that consist of modern controller and intelligent controller for an inverted pendulum system. Inverted pendulum is a nonlinear and unstable dynamic system, which continually moves toward an uncontrolled state. It consists...

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Main Author:	Najafzadeh, Nazila
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/32284/5/NazilaNajafzadehMFKE2012.pdf
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id	my-utm-ep.32284
record_format	uketd_dc
spelling	my-utm-ep.322842018-05-27T07:44:12Z Modeling and controller design of an inverted pendulum system using AI approach 2012-01 Najafzadeh, Nazila TK Electrical engineering. Electronics Nuclear engineering This project presents the simulation study of few different control approaches that consist of modern controller and intelligent controller for an inverted pendulum system. Inverted pendulum is a nonlinear and unstable dynamic system, which continually moves toward an uncontrolled state. It consists of a cart, driven by a force that can move along a horizontal track, and a pendulum attached to the cart which can rotate freely in the vertical plane parallel to the track. The control problem is to drive the pendulum to its upright position and remains it there as well as maintaining the position of the cart. It involves the derivation of the mathematical modeling that includes the linearization of the model in order to be used with the linear controller. The work follows with designing linear quadric regulator (LQR) as modern controller; fuzzy logic and adaptive neural network fuzzy for the intelligent controller. The simulation of controllers has been done in MATLAB, and their performance is analyzed and compared which is based on common criteria’s of the step response. Overall, LQR controller has the fastest response, whereas adaptive neural network fuzzy controller gives more flexibility in control action 2012-01 Thesis http://eprints.utm.my/id/eprint/32284/ http://eprints.utm.my/id/eprint/32284/5/NazilaNajafzadehMFKE2012.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Najafzadeh, Nazila Modeling and controller design of an inverted pendulum system using AI approach
description	This project presents the simulation study of few different control approaches that consist of modern controller and intelligent controller for an inverted pendulum system. Inverted pendulum is a nonlinear and unstable dynamic system, which continually moves toward an uncontrolled state. It consists of a cart, driven by a force that can move along a horizontal track, and a pendulum attached to the cart which can rotate freely in the vertical plane parallel to the track. The control problem is to drive the pendulum to its upright position and remains it there as well as maintaining the position of the cart. It involves the derivation of the mathematical modeling that includes the linearization of the model in order to be used with the linear controller. The work follows with designing linear quadric regulator (LQR) as modern controller; fuzzy logic and adaptive neural network fuzzy for the intelligent controller. The simulation of controllers has been done in MATLAB, and their performance is analyzed and compared which is based on common criteria’s of the step response. Overall, LQR controller has the fastest response, whereas adaptive neural network fuzzy controller gives more flexibility in control action
format	Thesis
qualification_level	Master's degree
author	Najafzadeh, Nazila
author_facet	Najafzadeh, Nazila
author_sort	Najafzadeh, Nazila
title	Modeling and controller design of an inverted pendulum system using AI approach
title_short	Modeling and controller design of an inverted pendulum system using AI approach
title_full	Modeling and controller design of an inverted pendulum system using AI approach
title_fullStr	Modeling and controller design of an inverted pendulum system using AI approach
title_full_unstemmed	Modeling and controller design of an inverted pendulum system using AI approach
title_sort	modeling and controller design of an inverted pendulum system using ai approach
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2012
url	http://eprints.utm.my/id/eprint/32284/5/NazilaNajafzadehMFKE2012.pdf
_version_	1747815965731586048

Modeling and controller design of an inverted pendulum system using AI approach

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