Desain Kontrol Optimal Fuzzy Menggunakan Pendekatan PDC Modifikasi Untuk Sistem Pendulum Kereta

Abstract

Sistem Pendulum Kereta merupakan salah satu contoh sistem yang memiliki karakteristik nonlinear dan tak stabil sistem yang sering digunakan untuk menguji metode-metode kontrol. Tugas Akhir ini membahas desain sistem kontrol stabilitas pada sistem pendulum kereta dengan metode kontrol Fuzzy Takagi-Sugeno (T-S) dengan mengguanakan pendekatan PDC modifikasi agar sistem pendulum kereta mampu menstabilkan pendulum pada posisi terbaliknya, serta menjaga kereta pada titik tengah rel. Dalam memperoleh state feedback gain, digunakan metode Linear Quadratic Regulator (LQR) berbasis teknik kontrol optimal dengan mencari kombinasi matrik Q dan R sehingga diperoleh nilai K yang diinginkan. Hasil simulasi dan implementasi menujukkan bahwa kontroler dapat mempertahankan pendulum pada keadaan terbaliknya dan posisi kereta pada titik tengah rel.

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