Kontrol Tracking Fuzzy-Optimal untuk Sistem Pendulum-Kereta

Adenia Rahma Putri, Trihastuti Agustinah
Submission Date: 2013-08-15 16:32:21
Accepted Date: 2013-08-28 14:16:46

Abstract


Sistem pendulum-kereta memiliki karakteristik yang tidak stabil dan nonlinear. Makalah ini membahas desain sistem kontrol tracking pada sistem pendulum-kereta dengan metode kontrol Fuzzy-Optimal agar sistem pendulum kereta mampu bergerak mengikuti sinyal referensi dengan tetap mempertahankan batang pendulum dalam posisi terbaliknya. Sinyal referensi yang digunakan adalah sinyal step, square-wave dan sinus. Model nonlinear sistem pendulum-kereta direpresentasikan dalam model fuzzy Takagi-Sugeno untuk beberapa titik kerja, kemudian kontroler state feedback disusun dengan konsep Parallel Distributed Compensation (PDC) menggunakan teknik kontrol optimal. Hasil simulasi serta implementasi menunjukkan bahwa sistem pendulum-kereta mampu mengikuti sinyal referensi dan tetap mempertahankan sudut pendulum di sekitar 0 rad.

Keywords


Fuzzy-optimal kontrol; model fuzzy Takagi-Sugeno (T-S); tracking; sistem pendulum-kereta.

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