KONTROL TRACKING FUZZY UNTUK SISTEM PENDULUM KERETA MENGGUNAKAN PENDEKATAN LINEAR MATRIX INEQUALITIES

Rizki Wijayanti, Trihastuti Agustinah
Submission Date: 2017-07-24 18:33:31
Accepted Date: 2018-01-09 21:27:31

Abstract


Sistem Pendulum Kereta adalah suatu plant nonlinear dan tidak stabil yang terdiri dari batang pendulum yang berayun searah atau berlawanan arah jarum jam dan bersumbu pada kedua sisi kereta yang dapat bergerak secara horisontal. Makalah ini membahas tentang kontrol tracking berbasis model servo tipe 1 dengan plant tanpa integrator agar Sistem Pendulum Kereta mampu bergerak mengikuti sinyal referensi berupa sinyal step. Model nonlinear Sistem Pendulum Kereta direpresentasikan dengan model fuzzy Takagi-Sugeno dengan didasarkan aturan PDC (Paralel Distributed Compensation) untuk memperoleh aturan kontroler. Gain state feedback dan gain integrator diperoleh dengan menggunakan pendekatan LMI (Linear Matrix Inequalities). Hasil simulasi menunjukkan bahwa posisi kereta mampu mengikuti sinyal referensi berupa sinyal step dengan nilai IAE (Integral Absolute Error) sebesar 0,1986 m.


Keywords


Sistem Pendulum Kereta, Tracking, Fuzzy Takagi Sugeno, Sistem Servo Tipe 1, Linear Matrix Inequalities

References


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