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ITS » Scientific Articles » Luar ITS
Posted by hdnurhadi@me.its.ac.id at 01/09/2016 14:13:59  •  740 Views


DESIGN OF SLIDING-PID CONTROL SYSTEM FOR DOUBLE PENDULUM ON MOVING CART

Author :
HENDRO NURHADI ( 197511202002121002 )
AHMAD ADHIM




ABSTRAK

Most systems that exist in the real world are nonlinear systems so that are difficult to control. Double pendulum is a system that simulates a control mechanism to regulate the stability problem. The main problem in control system design for the double pendulum is to stabilize the pendulum rod in equilibrium by moving train on limited trajectory. In this research Sliding-PID control system is designed to stabilize the double pendulum. Sliding-PID controller is a combination of PID controller and Sliding Mode Controller. Double pendulum system is modeled by using Matlab Simulink based on the equations of kinematics and dynamics. The results shows the Sliding-PID controller produced better response compared to PID controller. Sliding-PID able to make the double pendulum on moving cart achieves its stability 43.42 faster than classical PID controller.



Keywordsdouble pendulum; PID controller; Siding-PID controller.
 
Subject:  Sliding mode control PID controllers
Date Create: 00/00/0000
Type: Text
Format: PDF
Language: English
Identifier: ITS-Article-99005160010197
Collection ID: 99005160010197
Call Number: 629.8 Hen d


Source
article of proceeding SITIA

Coverage
ITS Community

Rights
proceeding SITIA




[ Download - Summary ]

ITS-Article-99005160010197-41789.pdf




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