Desain Kontrol Optimal Fuzzy Menggunakan Pendekatan PDC Modifikasi Untuk Sistem Pendulum Kereta

Almira, Syfa (2015) Desain Kontrol Optimal Fuzzy Menggunakan Pendekatan PDC Modifikasi Untuk Sistem Pendulum Kereta. Undergraduate thesis, Institut Technology Sepuluh Nopember.

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Abstract

Sistem pendulum kereta merupakan salah satu contoh sistem yang memiliki karakteristik nonlinear dan tidak stabil, sehingga sering digunakan untuk menguji metode-metode kontrol. Pada Tugas Akhir ini akan dibahas mengenai desain sistem kontrol stabilitas pada sistem pendulum kereta dengan metode kontrol fuzzy optimal agar sistem pendulum kereta mampu menstabilkan pendulum pada posisi terbaliknya serta menjaga kereta pada titik tengah rel. Desain kontroler fuzzy berbasis Takagi-Sugeno (T-S) dirancang dengan menggunakan konsep PDC modifikasi. State feedback gain diperoleh dengan menggunakan metode Linear Quadratic Regulator (LQR) berdasarkan kombinasi matrik Q dan R sehingga diperoleh nilai K yang diinginkan. Hasil simulasi dan implementasi menujukkan bahwa kontroler dapat mempertahankan pendulum pada keadaan terbaliknya dan posisi kereta kembali pada titik tengah rel dengan cepat. =================================================================================================== Pendulum cart system is an example of nonlinear and unstable system, which is often used to test the performance of control methods. This final project discuss about control stability system design on the pendulum cart system with Fuzzy-Optimal Control method to make the pendulum cart system were able to stabilize the pendulum at the inverted state and maintain the cart at the center of the rail. Takagi-Sugeno fuzzy controller is designed using the concept of PDC modification. The state feedback gain is obtained using the Linear Quadratic Regulator method (LQR) based on the combination of matrices Q and R in order to obtain the desired K value. Simulation and implementation results show that the controller can maintain the pendulum at its inverted position and bring back the cart at the center of the rail quickly.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 629.89 Alm d
Uncontrolled Keywords: Fuzzy Takagi-Sugeno, Linear Quadratic Regulator (LQR) PDC Modifikasi, Sistem Pendulum Kereta
Subjects: Q Science > QA Mathematics > QA9.64 Fuzzy logic
T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
Divisions: Faculty of Electrical Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: Mr. Tondo Indra Nyata
Date Deposited: 10 Aug 2018 03:51
Last Modified: 10 Aug 2018 03:51
URI: http://repository.its.ac.id/id/eprint/59270

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