OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL

Jali, Mohd Hafiz and Hafez, Sarkawi and Tarmizi, Ahmad Izzuddin (2013) OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL. In: Seminar Hasil Penyelidikan Sektor Pengajian Tinggi Kementerian Pendidikan Malaysia, Ke-3, 2-3 Julai 2013, EDC, Universiti Utara Malaysia.

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Abstract

This paper presents a state space control technique for inverted pendulum system. The system is a common classical control problem that has been widely used to test multiple control algorithms because of its nonlinear and unstable behavior. Full state feedback based on pole placement and optimal control is applied to the inverted pendulum system to achieve desired design specification which are 4 seconds settling time and 5% overshoot. The simulation and optimization of the full state feedback controller based on pole placement and optimal control techniques as well as the performance comparison between these techniques is described comprehensively. The comparison is made to choose the most suitable technique for the system that have the best trade-off between settling time and overshoot. Besides that, the observer design is analyzed to see the effect of pole location and noise present in the system.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Control, Instrumentation & Automation
Depositing User: MOHD HAFIZ JALI
Date Deposited: 21 Jul 2014 09:07
Last Modified: 28 May 2015 04:28
URI: http://eprints.utem.edu.my/id/eprint/12969
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