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All Journal ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Jurnal Riset Rumpun Ilmu Teknik (JURRITEK)
PUTRA, SADIANA
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Civil Engineering, Building, Construction & Architecture Computer Science & IT Electrical & Electronics Engineering Engineering

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The Analytical Design and Implementation of Inverted Pendulum Control System using Linear Quadratic Regulator PUTRA, SADIANA; SIREGAR, MARSUL; BACHRI, KAREL OCTAVIANUS
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 12, No 3: Published July 2024
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v12i3.625

Abstract

ABSTRAKMakalah ini menyajikan proses rancang bangun sistem kendali pendulum terbalik dengan menggunakan metode LQR. Model sistem diperoleh dengan melakukan analisis free body diagram dari sistem pendulum terbalik kemudian setelah diperoleh model sistem dilanjutkan dengan membuat persamaan ruang keadaan yang selanjutnya digunakan untuk sistem kendali LQR di mana energi yang digunakan dapat diatur sesuai dengan kebutuhan. Digunakan 10 skenario untuk mendapatkan kriteria perancangan yang diinginkan. Penentuan skenario yang tepat dapat dilakukan dengan simulasi MATLAB sehingga dapat dilihat tanggapan sistem dengan menentukan koefisien matriks Q dan matriks R yang tepat. Melalui beberapa pengujian dapat ditunjukkan bahwa untuk menjaga pendulum tetap stabil diperlukan pengaturan energi yang tepat.Kata kunci: LQR, MATLAB, pendulum terbalik, variabel keadaan ABSTRACTThis paper presents the design process of an inverted pendulum control system using the LQR method. The system model is obtained by analyzing the free body diagram of the inverted pendulum system, then after obtaining the system model, proceed with creating a state space equation which is then used for the LQR control system where the energy used can be adjusted according to needs. 10 scenarios were used to obtain the desired design criteria. Determining the right scenario can be done using MATLAB simulation so that the system response can be seen by determining the correct Q matrix and R matrix coefficients. Through several tests it can be shown that to keep the pendulum stable it requires proper energy settings.Keywords: LQR, MATLAB, inverted pendulum, state-variable
Implementasi Fuzzy Logic Control Metode Mamdani pada Pengatur Nilai Ph Air dan Nutrisi Hidroponik Huban Kabir; Yusep Romario; Sadiana Putra
JURAL RISET RUMPUN ILMU TEKNIK Vol. 5 No. 1 (2026): April: Jurnal Riset Rumpun Ilmu Teknik
Publisher : Lembaga Pengembangan Kinerja Dosen

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55606/jurritek.v5i1.8149

Abstract

In this study, a device was designed and implemented to control the water pH and nutrient density (concentration) in a hydroponic system using the Mamdani method of fuzzy logic, thus maintaining nutrient solution parameters within an optimal range for plant growth. This system relies on three input values ​​obtained from a water pH sensor, a nutrient TDS sensor, and a flow meter. These three sensors are used to control four peristaltic motors, each of which functions to increase and decrease the pH and nutrient levels in the solution. The speed of the peristaltic pump motor, when the water pH is set at 6.5 and the nutrient concentration is set at 700 ppm, is influenced by the difference between the sensor reading and the set point. The greater the difference, the higher the peristaltic pump motor speed. Conversely, the smaller the difference between the sensor reading and the set point, the lower the peristaltic pump motor speed. Furthermore, the amount of water flowing through the pipe also influences the peristaltic pump motor speed.
Co-Authors Huban Kabir Karel Octavianus Bachri Marsul Siregar Yusep Romario