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Stabilization of a cart inverted pendulum system using LQR, Partial Feedback Linearization and LQG control Fitria, Nur; Rusli, Mochammad; Yudaningtyas, Erni
Jurnal EECCIS (Electrics, Electronics, Communications, Controls, Informatics, Systems) Vol. 19 No. 2 (2025)
Publisher : Faculty of Engineering, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21776/jeeccis.v19i2.1760

Abstract

Controlling of a cart inverted pendulum often becomes learning material for a control system. Several researchers have carried out about stabilization of inverted pendulum using numerous methodologies. However, the stabilization of the pendulum has just been conducted in the inverted area. The aim of this research was designing a control system to raise the pendulum from the lower area to the inverted area using Linear Quadratic Regulator (LQR) and Partial Feedback Linearization control in the Simulink MATLAB. Furthermore, the design was given a noise so that Linear Quadratic Gaussian (LQG) control was needed to make this system more robust. The model of cart pendulum with LQR control alone was unable to raise the pendulum from 0 degree to reach the angle at 180 degrees in an inverted area although the gain K and the voltage of DC motor were increased. For this reason, the Partial Feedback Linearization method was added to raise the pendulum by controlling the energy and slide mode on the cart. The strengthening of the system with the LQG design was carried out to reduce the noise signal that occurs in the DC Motor and sensor. The design was implemented in the simulation using Simulink MATLAB. It shows that the design of LQR and Partial Feedback Linearization control can make the pendulum stable at 180 degrees in 5.2 seconds and the cart is stable at 0 cm in 4.5 seconds. Whereas, the design of LQG control can reduce the noise well in the system.
Rancang Bangun Sistem Monitoring Kualitas Air untuk Pemeliharaan Organisme Laut Nur Fitria; Susanto, Adi; Alimuddin, Alimuddin; Herjayanto, Muh.; Budiaji, Weksi; Fitria, Nur
JEPIN (Jurnal Edukasi dan Penelitian Informatika) Vol 6, No 3 (2020): Volume 6 No 3
Publisher : Program Studi Informatika

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26418/jp.v6i3.42899

Abstract

Kualitas air pada wadah pemeliharaan dan budidaya organisme laut merupakan aspek penting yang harus diperhatikan. Mekanisme pemeliharaan dan kontrol kualitas air laut lebih kompleks dibandingkan dengan air tawar karena lebih rentan terhadap cemaran yang berasal dari sisa metabolisme atau sisa makanan. Kemajuan teknologi saat ini memungkinkan untuk melakukan manajemen kualitas air secara terkontrol sehingga lebih efisien. Pengembangan sistem monitoring kualitas air dapat dilakukan menggunakan mikrokontrol arduino yang dilengkapi dengan sensor suhu, DO (dissolved oxygen) dan salinitas. Ketiga parameter tersebut menjadi pembatas utama bagi kelangsungan hidup organisme air laut. Hasil penelitian menunjukkan bahwa sistem yang dibangun dapat bekerja baik sesuai dengan perubahan kondisi parameter pengukuran dengan tingkat kesalahan 0,8-3,8%. Kebutuhan listriknya yang rendah (9 volt) memungkinkan variasi sumber energi yang dapat digunakan antara lain aliran listrik negara, generator, baterai, maupun sumber energi terbarukan seperti energi matahari atau energi angin. Meskipun demikian, keandalan sistem monitoring yang dibangun memerlukan validasi di lapangan sebelum diterapkan pada lingkungan yang sebenarnya.
Co-Authors Adi Susanto Budiaji, Weksi Erni Yudaningtyas Herjayanto, Muh. Mochammad Rusli, Mochammad Nur Fitria, Nur