PERBANDINGAN SISTEM KENDALI INVERTED PENDULUM MENGGUNAKAN PROPORTIONAL - INTEGRAL - DERIVATIVE (PID) DAN PROPORTIONAL - INTEGRAL (PI)

SAMARA, RENI and Suprapto, Bhakti Yudho (2019) PERBANDINGAN SISTEM KENDALI INVERTED PENDULUM MENGGUNAKAN PROPORTIONAL - INTEGRAL - DERIVATIVE (PID) DAN PROPORTIONAL - INTEGRAL (PI). Undergraduate thesis, Sriwijaya University.

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Abstract

Inverted Pendulum is a system that works to control balance of a tool which has its point of mass above its rotating point. It is non-linear, has multiple variables, uncertain with single input multiple output (SIMO) characteristics. One of possible solutions to this problem is PID or Proportional – Integral – Derivative control system. PID is commonly used as a comparator to other control systems such as Fuzzy Logic Controller, LQR or Neural Network yet less is found about PID control work system results compared with each other (P with PID, PI with PD, PID with PI) towards Inverted Pendulum. This research discusses PID’s optimum parameter search toward Inverted Pendulum’s system and compares PID with PI by encoder’s work results which is shown from the pendulum’s angle shift and motor’s PWM (Pulse Width Modulation) to find which control system is best. The result of this research from both control systems shows PID control is more capable to reach and maintain the pendulum’s balance with the right amount of PWM with an average value of 98.47 rather than using PI control system.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Inverted Pendulum; PID; PI; PWM; Enkoder, Pendulum Terbalik
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics > TK7816.P39 Electronics
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Users 710 not found.
Date Deposited:	02 Aug 2019 08:02
Last Modified:	15 Aug 2019 08:02
URI:	http://repository.unsri.ac.id/id/eprint/1887

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