<![CDATA[Pendulum terbalik tipe cart-pole merupakan representasi matematis dari salah satu sistem yang tidak stabil. Secara umum, konstruksi fisik pendulum terbalik tersusun atas gerobak atau cart dan batang pendulum. Tanpa mekanisme kendali, pendulum akan terus jatuh akibat gaya gravitasi karena sistem sangat tidak stabil. Pada studi ini digunakan metode kendali Linear Quadratic Gaussian (LQG) untuk memaksa batang pendulum tegak vertikal sekitar sudut 0° sesuai posisi referensi yang diinginkan dengan menggerakkan cart. Pengujian dan simulasi menggunakan fitur MATLAB simulink, untuk model pendulum terbalik yang dikendalikan dengan LQG menghasilkan performansi dinamika sistem. Hasil pengujian menunjukkan posisi cart paling stabil -3 m dari posisi awal, rise time 2,31 detik, settling time 2,44 detik dan sudut simpangan maksimum batang pendulum 1,9 ° disekitar posisi tegak vertikal. Untuk memverifikasi keberhasilan metode yang digunakan, visualisasi sistem kendali disajikan dengan Simmechanics dan Blender graph editor. Abstract The cart-pole inverted pendulum is a mathematical representation of an unstable system. In general, the physical construction of an inverted pendulum consists of a cart and a pendulum rod. Without a control mechanism, the pendulum will continue to fall due to gravitational force because the system is highly unstable. In this study, the Linear Quadratic Gaussian (LQG) control method was used to force the pendulum rod to be vertical at an angle of approximately 0° according to the desired reference position by moving the cart. Testing and simulation using the MATLAB Simulink feature for the inverted pendulum model controlled by LQG produced the system's dynamic performance. The test results showed that the most stable cart position was -3 m from the initial position, with a rise time of 2.31 seconds, a settling time of 2.44 seconds, and a maximum pendulum rod deviation angle of 1.9° around the vertical position. To verify the success of the method used, the control system visualization was presented with Simmechanics and Blender graph editor.]]>
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