Kontrol Tracking Fuzzy Untuk Sistem Pendulum-Kereta Menggunakan Pendekatan Linear Matrix Inequalities

Wijayanti, Rizki (2017) Kontrol Tracking Fuzzy Untuk Sistem Pendulum-Kereta Menggunakan Pendekatan Linear Matrix Inequalities. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem Pendulum Kereta adalah suatu plant nonlinear dan tidak stabil yang terdiri dari batang pendulum yang berayun searah atau berlawanan arah jarum jam dan bersumbu pada kedua sisi kereta yang dapat bergerak secara horisontal. Tugas Akhir ini membahas tentang kontrol tracking berbasis model servo tipe 1 dengan plant tanpa integrator agar Sistem Pendulum Kereta mampu bergerak mengikuti sinyal referensi berupa sinyal step. Model nonlinear Sistem Pendulum Kereta direpresentasikan dengan model fuzzy Takagi-Sugeno dengan didasarkan aturan PDC (Paralel Distributed Compensation) untuk memperoleh aturan kontroler. Gain state feedback dan gain integrator diperoleh dengan menggunakan pendekatan LMI (Linear Matrix Inequalities). Hasil simulasi menunjukkan bahwa posisi kereta mampu mengikuti sinyal referensi berupa sinyal dengan nilai IAE (Integral Absolute Error) sebesar 0,1986 m. ================================================================= The pendulum- cart system is a plant nonlinear and unstable that consists of a pendulum which swinging up and pinned on both sides of chart that can move on a trajectory with the horizontal axis. This final project discusses about tracking control based on Type 1 Servo Sistem when the plant has no integrator so that the pendulum- cart system is able to follow the reference step signal. The nonlinear models of pendulum-cart system can be represented by Takagi-Sugeno fuzzy models following the rule of the PDC (Parallel Distributed Compensation) to obtain rule of controller. The state feedback gain is obtained using LMI (Linear Matrix Inequalities) approach. The results of simulation show that pendulum-cart system is able to follow the reference step signal without any phase between the cart position response with value of IAE (Integral Absolute error) is 0.1986 m.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Sistem Pendulum Kereta, Tracking, Fuzzy Takagi Sugeno, Sistem Servo Tipe 1, Linear Matrix Inequalities, Cart-pendulum System, Type 1 Servo System
Subjects: Q Science > QA Mathematics > QA184 Algebra, Linear
Q Science > QA Mathematics > QA278.2 Regression Analysis
Q Science > QA Mathematics > QA248_Fuzzy Sets
Divisions: Faculty of Industrial Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: Rizki Wijayanti
Date Deposited: 12 Oct 2017 01:45
Last Modified: 22 Nov 2017 01:23
URI: http://repository.its.ac.id/id/eprint/44639

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