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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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

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

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