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...
| Main Author: | |
|---|---|
| Format: | Thesis |
| Language: | English |
| Published: |
2007
|
| Subjects: | |
| Online Access: | http://eprints.utm.my/6379/1/AhmadNorKasruddinNasirMFKE2007.pdf |
| _version_ | 1796854063547023360 |
|---|---|
| author | Nasir, Ahmad Nor Kasruddin |
| author_facet | Nasir, Ahmad Nor Kasruddin |
| author_sort | Nasir, Ahmad Nor Kasruddin |
| collection | ePrints |
| 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. |
| first_indexed | 2024-03-05T18:08:48Z |
| format | Thesis |
| id | utm.eprints-6379 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T18:08:48Z |
| publishDate | 2007 |
| record_format | dspace |
| spelling | utm.eprints-63792018-08-29T07:51:00Z http://eprints.utm.my/6379/ Modeling and controller design for an inverted pendulum system 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 NonPeerReviewed application/pdf en http://eprints.utm.my/6379/1/AhmadNorKasruddinNasirMFKE2007.pdf Nasir, Ahmad Nor Kasruddin (2007) Modeling and controller design for an inverted pendulum system. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:62208 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nasir, Ahmad Nor Kasruddin Modeling and controller design for an inverted pendulum system |
| title | 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_short | Modeling and controller design for an inverted pendulum system |
| title_sort | modeling and controller design for an inverted pendulum system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/6379/1/AhmadNorKasruddinNasirMFKE2007.pdf |
| work_keys_str_mv | AT nasirahmadnorkasruddin modelingandcontrollerdesignforaninvertedpendulumsystem |