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All Journal Journal of Fuzzy Systems and Control (JFSC)
Hoang, Dai-Phuc
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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A Survey of Experimental LQR for Cart and Pole Hoang, Dai-Phuc; Nguyen, Hoang-An; Pham, Quang-Sang; Pham, Huu-Chi; Huynh, Minh-Son; Phan, Duy-Phong; Truong, Nhut-Thanh; Nguyen, Dinh-Phat; Nguyen, Tran-Tu-Uyen; Nguyen, Hai-Thanh
Journal of Fuzzy Systems and Control Vol. 2 No. 2 (2024): Vol. 2, No. 2, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i2.211

Abstract

This study explores using an LQR control for a balancing model of the inverted pendulum (IP) on a cart and pole system at the equilibrium point. The approach starts by deriving the system's motion equations by Lagrangian method. Moreover, real-world experiments are conducted to validate the proposed control strategy, demonstrating its practical applicability and robustness specifically in the context of stabilizing IP systems on carts. Thence, this model can be a standard training model for laboratory in control theory.
Backstepping Control for Ball and Beam: Simulation and Experiment Tran, Vo-Hoang-Lap; Le, Trung-Hieu; Hoang, Dai-Phuc; Nguyen, Van-Dong-Hai; Ho, Ngoc-Thinh; Do, Tien-Phat; Le, Tuan-Cuong; Tran, Thi-Xuan-Hy; Luong, The-Duy; Vo, Thanh-Son; Nguyen, Phuoc-Khanh; Nguyen, Minh-Tam
Journal of Fuzzy Systems and Control Vol. 3 No. 1 (2025): Vol. 3, No. 1, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i1.275

Abstract

This paper presents the modeling and control of the Ball and Beam system, a commonly used Single Input – Multiple Output (SIMO) system in control research experiments. In the study, the Backstepping method is applied to model and control the system. The linear differential equations describing the system's dynamics are derived based on fundamental mechanical principles, using the Euler-Lagrange method to develop an accurate mathematical model. Subsequently, the backstepping method is employed to design a controller that ensures the global stability of the system. Lyapunov theory is applied to prove the system's stability, with an appropriate Lyapunov function selected to guarantee the global stability of the controller. In addition to simulations, the study also conducts experiments to test the system's stability under Backstepping control. The results show that this controller is not only effective in maintaining balance and controlling the position of the ball on the beam but also addresses the limitations of traditional linear control methods. Both simulation and experimental results demonstrate the high performance and stability of the system, confirming the stability according to Lyapunov theory.
Co-Authors Do, Tien-Phat Ho, Ngoc-Thinh Huynh, Minh-Son Le, Trung-Hieu Le, Tuan-Cuong Luong, The-Duy Nguyen, Dinh-Phat Nguyen, Hai-Thanh Nguyen, Hoang-An Nguyen, Minh-Tam Nguyen, Phuoc-Khanh Nguyen, Tran-Tu-Uyen Nguyen, Van-Dong-Hai Pham, Huu-Chi Pham, Quang-Sang Phan, Duy-Phong Tran, Thi-Xuan-Hy Tran, Vo-Hoang-Lap Truong, Nhut-Thanh Vo, Thanh-Son