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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2007
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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 |