Nasir, Ahmad Nor Kasruddin (2007) Modeling and controller design for an inverted pendulum system. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering.
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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.
|Item Type:||Thesis (Masters)|
|Additional Information:||Thesis (Master of Engineering (Mechatronics and Automatic Control)) - Universiti Teknologi Malaysia, 2007; Supervisor : Assoc. Prof. Dr. Mohd Fuaâ€™Ad bin Hj. Rahmat|
|Uncontrolled Keywords:||controller design, artificial intelligence controller, inverted pendulum system, proportional-integral-derivative (PID), linear quadratic regulator (LQR), fuzzy logic controller (FLC),|
|Subjects:||T Technology > TK Electrical engineering. Electronics Nuclear engineering|
|Deposited By:||Ms Zalinda Shuratman|
|Deposited On:||23 Sep 2008 06:14|
|Last Modified:||19 Oct 2012 05:23|
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