Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System
The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum's angle and cart&#...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/1191/1/Proceeding_Paper.pdf |
| _version_ | 1825821082504921088 |
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| author | Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad |
| author_facet | Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad |
| author_sort | Raja Mohd Taufika, Raja Ismail |
| collection | UMP |
| description | The objective of this paper is to compare the time
specification performance between conventional controller PID and
modern controller SMC 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. Two controllers are
presented such as Sliding Mode Control (SMC) and Proportional-
Integral-Derivatives (PID) controllers for controlling the highly
nonlinear system of inverted pendulum model. Simulation study has
been done in Matlab Mfile and simulink environment shows that both
controllers are capable to control multi output inverted pendulum
system successfully. The result shows that Sliding Mode Control
(SMC) produced better response compared to PID control strategies
and the responses are presented in time domain with the details
analysis. |
| first_indexed | 2024-03-06T11:36:11Z |
| format | Conference or Workshop Item |
| id | UMPir1191 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:36:11Z |
| publishDate | 2010 |
| record_format | dspace |
| spelling | UMPir11912018-02-07T00:59:47Z http://umpir.ump.edu.my/id/eprint/1191/ Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC 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. Two controllers are presented such as Sliding Mode Control (SMC) and Proportional- Integral-Derivatives (PID) controllers for controlling the highly nonlinear system of inverted pendulum model. Simulation study has been done in Matlab Mfile and simulink environment shows that both controllers are capable to control multi output inverted pendulum system successfully. The result shows that Sliding Mode Control (SMC) produced better response compared to PID control strategies and the responses are presented in time domain with the details analysis. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/1191/1/Proceeding_Paper.pdf Raja Mohd Taufika, Raja Ismail and Ahmad Nor Kasruddin, Nasir and Mohd Ashraf, Ahmad (2010) Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System. In: International Conference On Control, Automation, Robotics & Vision (Iccarv 2010) , 27 – 29 June 2010 , Holiday Inn Hotel, Paris, France. . (Unpublished) (Unpublished) |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System |
| title | Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System |
| title_full | Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System |
| title_fullStr | Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System |
| title_full_unstemmed | Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System |
| title_short | Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System |
| title_sort | performance comparisan between sliding mode control smc and pd pid controllers for a nonlinear inverted pendulum system |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/1191/1/Proceeding_Paper.pdf |
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