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Modelling and control of inverted pendulum on the rotating disc

Nur Huda , Mohd Amin (2014) Modelling and control of inverted pendulum on the rotating disc. Masters thesis, UTeM.

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Abstract

This research work studies about modelling and control of inverted pendulum on the rotating disc by using classical, modern, and intelligent control techniques. In this study, the classical control techniques use proportional-plus-derivative (PD) and proportionalplus- integral (PI) controllers, the modern control techniques that use Linear Quadratic Regulator controller (LQR), and intelligent control technique that use Fuzzy Logic (FL) controller. The main goal of this study is to model and control the dynamic modelling of the inverted pendulum on the rotating by using the above-mentioned control techniques. Among the problems identified for this project are balancing inverted pendulum on the rotating disc with the presence disturbance and establishing stability for a dynamical inverted pendulum on the rotating disc. The practical results in controlling the inverted pendulum and eliminating the disturbance are obtained via the following techniques: the MATLAB root locus for the PD and PI controllers; the optimal control for LQR controller; and the fuzzification and the defuzzification for the FL controller as a perspicuous view of its transient response stability. In the transient response, the balancing and stability of the inverted pendulum on the rotating disc are affected by the presence of the disturbances. The presence of the disturbance that is controlled by LQR controller shows the condition to the inverted pendulum on the rotating disc. Moreover, from the results obtained, it is found to be asymptotically stable by Lyapunov’s stability analysis. The mathematical model of the inverted pendulum on the rotating disc has been developed and the output response with disturbances show LQR controller have achieved good performance compared to PD, PI and FL controllers. This study applicable for the robot cycling transportation that delivers goods for customers.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Linear control systems, Pendulum
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Library > Tesis > FKE
Depositing User: Norziyana Hanipah
Date Deposited: 04 Sep 2015 07:39
Last Modified: 04 Sep 2015 07:39
URI: http://eprints.utem.edu.my/id/eprint/14918

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