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 pendulum’s angle and cart’s position. The inverted pendulum represents a challenging control problem...

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主要作者: Nasir, Ahmad Nor Kasruddin
格式: Thesis
语言:English
出版: 2007
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在线阅读:http://eprints.utm.my/id/eprint/6379/1/AhmadNorKasruddinNasirMFKE2007.pdf
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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 pendulum’s angle and cart’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 pendulum’s angle and cart’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