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OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL

This paper presents a state space control technique for inverted pendulum system. The system is a common classical control problem that has been widely used to test multiple control algorithms because of its nonlinear and unstable behavior. Full state feedback based on pole placement and optimal con...

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Main Authors: Jali, Mohd Hafiz, Hafez, Sarkawi, Tarmizi, Ahmad Izzuddin
Format: Conference or Workshop Item
Language:English
Published: 2013
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utem.edu.my/id/eprint/12969/1/Prosiding_ict_rcsb.pdf
http://eprints.utem.edu.my/id/eprint/12969/
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spelling my.utem.eprints.129692015-05-28T04:28:41Z http://eprints.utem.edu.my/id/eprint/12969/ OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL Jali, Mohd Hafiz Hafez, Sarkawi Tarmizi, Ahmad Izzuddin TK Electrical engineering. Electronics Nuclear engineering This paper presents a state space control technique for inverted pendulum system. The system is a common classical control problem that has been widely used to test multiple control algorithms because of its nonlinear and unstable behavior. Full state feedback based on pole placement and optimal control is applied to the inverted pendulum system to achieve desired design specification which are 4 seconds settling time and 5% overshoot. The simulation and optimization of the full state feedback controller based on pole placement and optimal control techniques as well as the performance comparison between these techniques is described comprehensively. The comparison is made to choose the most suitable technique for the system that have the best trade-off between settling time and overshoot. Besides that, the observer design is analyzed to see the effect of pole location and noise present in the system. 2013-07-02 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/12969/1/Prosiding_ict_rcsb.pdf Jali, Mohd Hafiz and Hafez, Sarkawi and Tarmizi, Ahmad Izzuddin (2013) OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL. In: Seminar Hasil Penyelidikan Sektor Pengajian Tinggi Kementerian Pendidikan Malaysia, Ke-3, 2-3 Julai 2013, EDC, Universiti Utara Malaysia.
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Jali, Mohd Hafiz
Hafez, Sarkawi
Tarmizi, Ahmad Izzuddin
OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
description This paper presents a state space control technique for inverted pendulum system. The system is a common classical control problem that has been widely used to test multiple control algorithms because of its nonlinear and unstable behavior. Full state feedback based on pole placement and optimal control is applied to the inverted pendulum system to achieve desired design specification which are 4 seconds settling time and 5% overshoot. The simulation and optimization of the full state feedback controller based on pole placement and optimal control techniques as well as the performance comparison between these techniques is described comprehensively. The comparison is made to choose the most suitable technique for the system that have the best trade-off between settling time and overshoot. Besides that, the observer design is analyzed to see the effect of pole location and noise present in the system.
format Conference or Workshop Item
author Jali, Mohd Hafiz
Hafez, Sarkawi
Tarmizi, Ahmad Izzuddin
author_facet Jali, Mohd Hafiz
Hafez, Sarkawi
Tarmizi, Ahmad Izzuddin
author_sort Jali, Mohd Hafiz
title OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
title_short OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
title_full OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
title_fullStr OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
title_full_unstemmed OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
title_sort observer-based-controller for inverted pendulum model
publishDate 2013
url http://eprints.utem.edu.my/id/eprint/12969/1/Prosiding_ict_rcsb.pdf
http://eprints.utem.edu.my/id/eprint/12969/
_version_ 1665905520046768128
score 13.211869

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