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ITS » Scientific Articles » Luar ITS Posted by firstname.lastname@example.org at 01/09/2016 14:13:59 • 753 Views
DESIGN OF SLIDING-PID CONTROL SYSTEM FOR DOUBLE PENDULUM ON MOVING CART
Author : HENDRO NURHADI ( 197511202002121002 ) AHMAD ADHIM
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.