Modeling and controller design for an inverted pendulum system

This paper presents the simulation study of several control strategies for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulumâ€™s angle and cartâ€™s position. The inverted pendulum represents a challenging control problem...

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Main Author:	Nasir, Ahmad Nor Kasruddin
Format:	Thesis
Language:	English
Published:	2007
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/6379/1/AhmadNorKasruddinNasirMFKE2007.pdf
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id	my-utm-ep.6379
record_format	uketd_dc
spelling	my-utm-ep.63792018-08-29T07:51:00Z Modeling and controller design for an inverted pendulum system 2007-04 Nasir, Ahmad Nor Kasruddin TK Electrical engineering. Electronics Nuclear engineering This paper presents the simulation study of several control strategies for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulumâ€™s angle and cartâ€™s position. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Three controllers are presented i.e. proportional-integral-derivative (PID), linear quadratic regulator (LQR) for controlling the linear system of inverted pendulum and fuzzy logic controller (FLC) for controlling the non-linear system of inverted pendulum model. Simulation study has been done in Simulink shows that LQR produced better response compared to PID and FLC control strategies and offers considerable robustness. 2007-04 Thesis http://eprints.utm.my/id/eprint/6379/ http://eprints.utm.my/id/eprint/6379/1/AhmadNorKasruddinNasirMFKE2007.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:62208 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 Nasir, Ahmad Nor Kasruddin Modeling and controller design for an inverted pendulum system
description	This paper presents the simulation study of several control strategies for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulumâ€™s angle and cartâ€™s position. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Three controllers are presented i.e. proportional-integral-derivative (PID), linear quadratic regulator (LQR) for controlling the linear system of inverted pendulum and fuzzy logic controller (FLC) for controlling the non-linear system of inverted pendulum model. Simulation study has been done in Simulink shows that LQR produced better response compared to PID and FLC control strategies and offers considerable robustness.
format	Thesis
qualification_level	Master's degree
author	Nasir, Ahmad Nor Kasruddin
author_facet	Nasir, Ahmad Nor Kasruddin
author_sort	Nasir, Ahmad Nor Kasruddin
title	Modeling and controller design for an inverted pendulum system
title_short	Modeling and controller design for an inverted pendulum system
title_full	Modeling and controller design for an inverted pendulum system
title_fullStr	Modeling and controller design for an inverted pendulum system
title_full_unstemmed	Modeling and controller design for an inverted pendulum system
title_sort	modeling and controller design for an inverted pendulum system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2007
url	http://eprints.utm.my/id/eprint/6379/1/AhmadNorKasruddinNasirMFKE2007.pdf
_version_	1747814645611102208

Modeling and controller design for an inverted pendulum system

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