Desain pengendali kestabilan sistem inverted pendulum menggunakan kendali LQR = Stability control design for inverted pendulum system using LQR / Septian Purnama Salim
Septian Purnama Salim;
Abdul Halim, supervisor; Abdul Mun`is, co-promotor; Feri Yusifar, examiner; Aries Subiantoro, examiner
([Publisher not identified]
, 2013)
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ABSTRAK Tema Inverted pendulum banyak diteliti oleh peneliti dunia, salah satu temanya adalahpemodelan dan perancangan pengendali. Tema inilah yang diambil sebagai tema penelitiandalam tesis ini. Dalam tesis ini dimodelkan tiga jenis inverted pendulum yaitu Single InvertedPendulum, Double Inverted Pendulum, dan Dual Inverted Pendulum. Model matematik dariketiga jenis inverted pendulum ini diturunkan dari persamaan Euler- Lagrange. Model matematikyang didapatkan disimulasikan menggunakan matlab simulink. Dari hasil simulasi didapatkanbahwa ketiga jenis inverted pendulum ini tidak stabil namun demikian ketiga jenis invertedpendulum ini dapat dikendalikan sehingga ketiga jenis inverted pendulum ini dapat distabilkan.Untuk menstabilkan sistem inverted pendulum digunakan pengendali LQR. Dari hasil simulasiterlihat bahwa sistem inverted pendulum dapat distabilkan, namun kestabilan sistem hanya dapatdipenuhi dalam batasan nilai variabel keadaan yang tertentu. ABSTRACT Inverted pendulum is widely studied by researchers around the world. One of its research themesis modeling and control design. This theme also becomes the research focus of this thesis. In theresearch, three types of inverted pendulum have been studied. That are Single InvertedPendulum, Double Inverted Pendulum and Dual Inverted Pendulum. Mathematical models ofthese inverted pendulums are derived from the Euler-Lagrange equation. Based on these models,simulation is carried out by using Matlab/Simulink. Simulation results showed that the invertedpendulums are not stable but controllable. Therefore the inverted pendulums can be stabilized.In this research, LQR controller is used to stabilize the inverted pendulum systems. Simulationresults show that the inverted pendulum systems could be stabilized only within limited range ofthe state variable values. |
 T38687-Septian Purnama Salim.pdf :: Unduh
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| No. Panggil : | T38687 |
| Entri utama-Nama orang : | |
| Entri tambahan-Nama orang : | |
| Entri tambahan-Nama badan : | |
| Subjek : | |
| Penerbitan : | [Place of publication not identified]: [Publisher not identified], 2013 |
| Program Studi : |
| Bahasa : | ind |
| Sumber Pengatalogan : | LibUI ind rda |
| Tipe Konten : | text |
| Tipe Media : | unmediated ; computer |
| Tipe Carrier : | volume ; online resource |
| Deskripsi Fisik : | xvi, 100 pages : illustration ; 28 cm + appendix |
| Naskah Ringkas : | |
| Lembaga Pemilik : | Universitas Indonesia |
| Lokasi : | Perpustakaan UI, Lantai 3 |
| No. Panggil | No. Barkod | Ketersediaan |
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| T38687 | TERSEDIA |
| Ulasan: |
| Tidak ada ulasan pada koleksi ini: 20365523 |
