The Analytical Design and Implementation of Inverted Pendulum Control System using Linear Quadratic Regulator

SADIANA PUTRA, MARSUL SIREGAR, KAREL OCTAVIANUS BACHRI

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ABSTRAK

Makalah 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

 

ABSTRACT

This 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


Kata Kunci


LQR, MATLAB; inverted pendulum; state-variable

Teks Lengkap:

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Referensi


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DOI: https://doi.org/10.26760/elkomika.v12i3.625

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ISSN (print) : 2338-8323 | ISSN (electronic) : 2459-9638

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Department of Electrical Engineering Institut Teknologi Nasional Bandung

Address: 20th Building  Institut Teknologi Nasional Bandung PHH. Mustofa Street No. 23 Bandung 40124

Contact: +627272215 (ext. 206)

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