DESAIN KONTROLER PID DAN FUZZY TAKAGI-SUGENO UNTUK KONTROL TRACKING PADA SISTEM PENDULUM KERETA

ERWINDU, ADITYA BAYU (2017) DESAIN KONTROLER PID DAN FUZZY TAKAGI-SUGENO UNTUK KONTROL TRACKING PADA SISTEM PENDULUM KERETA. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem pendulum kereta memiliki karakteristik yang tidak stabil dan nonlinear. Tugas Akhir ini membahas kontrol tracking dari sistem pendulum kereta dengan menggunakan struktur kontrol yang konvensional, yaitu kontroler PID. Permasalahan yang akan diselesaikan dalam desain struktur kontrol tracking ini adalah bagaimana membuat posisi kereta dapat mengikuti sinyal referensi yang diberikan dengan tetap mempertahankan batang pendulum pada posisi equilibriumnya yaitu pada sudut nol radian. Model nonlinear dari sistem pendulum kereta direpresentasikan dengan menggunakan model fuzzy Takagi-Sugeno. Berdasarkan model tersebut, aturan kontroler disusun menggunakan konsep Parallel Distributed Compensation (PDC) berbasis teknik kontrol optimal. Hasil simulasi menunjukkan bahwa posisi kereta dapat mengikuti sinyal referensi yang diberikan. Respon sistem dengan kontroler PID yang diberi masukan sinyal referensi step memberikan performansi tracking terbaik, dengan Integral Absolute Error (IAE) terkecil diantara sinyal referensi lain, sebesar 0,1302 ========================================================================== The Pendulum-Cart system has an unstable and non-linear characteristic. This final project is mainly talk about the using of an conventional PID controller on the Pendulum-cart system for it’s tracking control. The tracking problem that could be solved by this system is how to make the cart of the Pendulum-Cart System follows the reference signal given with still can hold the position of the pendulum on its equilibrium point. The non linear model of Pendulum-Cart system is represented by a Takagi-Sugeno fuzzy model. The stabilizing controller is designed using the concept of Parallel Distributed Compensation (PDC) with an Optimal Control technique-based. The simulation results show that the reference signal given could be followed by the response of the Cart’s Position. The PID tracking controller system response using the step signal reference gives the best tracking performance of the system, It gives 0.1302 of Integral Absolute Error (IAE) value which is the smallest among the other references.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Sistem Pendulum Kereta, PID, Kontrol Optimal, Fuzzy Takagi-Sugeno, Tracking, Pendulum-Cart System, PID Controller, Optimal Control, Takagi-Sugeno Fuzzy model, Tracking Control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5102.5 Modulation (Electronics), Demodulation (Electronics)
Divisions: Faculty of Industrial Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: - ADITYA BAYU ERWINDU
Date Deposited: 24 Jan 2017 07:37
Last Modified: 24 Jan 2017 07:37
URI: http://repository.its.ac.id/id/eprint/2994

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