Kendali Linierisasi Umpan Balik pada Sistem Pendulum Terbalik
DOI:
https://doi.org/10.12928/mf.v2i2.2828Keywords:
Pengendali umpan balik linierisasi, Pendulum terbalik, nir linier.Abstract
Pada penelitian ini diterapkan pengendali linierisasi umpan balik pada sistem pendulum terbalik yang memiliki karakteristik tidak linear dan tidak stabil. Berdasarkan pada pengujian, pengendali yang diusulkan mampu untuk membuat sistem mengikuti sinyal referensi undak dan sinus. Nilai respons sistem untuk sinyal referensi undak adalah waktu naik sebesar 4,0386; waktu kestabilan sebesar 3,4656 dan overshoot sebesar 0 persen. Oleh karena itu dapat disimpulkan bahwa pengendali umpan balik linierisasi mampu untuk mengendalikan sistem pendulum terbalik mengikuti sinyal referensi.
In this study, a feedback linearization controller was applied to an inverted pendulum system that has non-linear and unstable characteristics. Based on the test, the proposed controller is able to make the system follow step and sine reference signals. The system response value for the step reference signal is an increment time of 4.0386; the time of stability was 3,4656 and overshoot was 0 percent. Therefore, it can be concluded that the linearized feedback controller is able to control the inverted pendulum system following the reference signal.
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