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Modeling and controller design for an inverted pendulum system

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 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.

Item Type:Thesis (Masters)
Additional Information:Thesis (Master of Engineering (Mechatronics and Automatic Control)) - Universiti Teknologi Malaysia, 2007; Supervisor : Assoc. Prof. Dr. Mohd Fua’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
Divisions:Electrical Engineering
ID Code:6379
Deposited By: Ms Zalinda Shuratman
Deposited On:23 Sep 2008 06:14
Last Modified:19 Oct 2012 05:23

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