Design of Sliding-PID Control System for Double Pendulum on Moving Cart

Nurhadi, Hendro and Adhim, Ahmad Design of Sliding-PID Control System for Double Pendulum on Moving Cart. proceeding 13 th seminar on intelegent Technology and Its Aplication. ISSN 2252-8296

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Abstract

Most systems that exist in the real world are nonlinear systems so that are difficult to control. Double pendulum is a system that simulates a control mechanism to regulate the stability problem. The main problem in control system design for the double pendulum is to stabilize the pendulum rod in equilibrium by moving train on limited trajectory. In this research, Sliding-PID control system is designed to stabilize the double pendulum. Sliding-PID controller is a combination of PID controller and Sliding Mode Controller. Double pendulum system is modeled by using Matlab Simulink based on the equations of kinematics and dynamics. The results shows the Sliding-PID controller produced better response compared to PID controller. Sliding-PID able to make the double pendulum on moving cart achieves its stability 43.42% faster than classical PID controller.

Item Type: Article
Uncontrolled Keywords: double pendulum, PID controller, Siding PID controller.
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Industrial Technology > Mechanical Engineering
Depositing User: Mr. Tondo Indra Nyata
Date Deposited: 12 Aug 2019 03:33
Last Modified: 27 Aug 2019 01:07
URI: https://repository.its.ac.id/id/eprint/70295

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