Kontrol fuzzy Takagi-Sugeno Berbasis Sistem Servo Tipe 1 untuk Sistem Pendulum-Kereta

Abstract

Sistem Pendulum-Kereta adalah suatu plant yang terdiri dari batang pendulum yang bersumbu pada kedua sisi kereta yang dapat bergerak pada suatu lintasan dengan sumbu vertikal. Makalah ini membahas sistem kontrol fuzzy Takagi-Sugeno yang berbasis Sistem Servo Tipe 1 dengan plant tanpa Integral agar Sistem Pendulum-Kereta mampu bergerak mengikuti sinyal referensi berupa sinyal step dengan tetap mempertahankan batang pendulum pada posisi terbaliknya (0 radian) serta dapat mengatasi gangguan. Model nonlinear Sistem Pendulum-Kereta dapat direpresentasikan dengan model fuzzy Takagi-Sugeno yang didasarkan mengikuti kaidah Paralel Distributed Compensation (PDC). Gain state-feedback dan gain integral diperoleh dengan menggunakan metode pole placement. Hasil simulasi dan implementasi menunjukkan bahwa plant Sistem Pendulum-Kereta mampu mengikuti sinyal referensi step dan referensi square wave serta dapat tetap mempertahankan posisi pendulum pada 0 radian.

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