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Self-erecting inverted pendulum employing PSO for stabilizing and tracking controller

Solihin, Mahmud Iwan and Wahyudi, Martono and Akmeliawati, Rini (2009) Self-erecting inverted pendulum employing PSO for stabilizing and tracking controller. In: 2009 5th International Colloquium on Signal Processing & Its Applications (CSPA).

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Abstract

The main objective of this paper is to design a state feedback controller for stabilizing and tracking control of selferecting inverted pendulum employing intelligent method using particle swarm optimization (PSO). This is motivated by the fact that one has to face trial and error approach in conventional feedback control design by pole placement method or linear quadratic regulator (LQR) method via Riccati equation. The simulation results show the effectiveness of the proposed method. The proposed state feedback controller works jointly with swingup controller in the self-erecting inverted pendulum system.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 4116/5290
Uncontrolled Keywords: particle swarm optimization (PSO), self-erecting pendulum system, linear quadratic regulator
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 02 Nov 2011 08:24
Last Modified: 22 Nov 2011 14:48
URI: http://irep.iium.edu.my/id/eprint/5290

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