State-Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System

This paper presents a state space control technique for inverted pendulum system using simulation and real experiment via MATLAB/SIMULINK software. The inverted pendulum is difficult system to control in the field of control engineering. It is also one of the most important classical control system problems because of its nonlinear characteristics and unstable system. It has three main problems that always appear in control application which are nonlinear system, unstable and non-minimumbehavior phase system. This project will apply state feedback controller based on pole placement technique which is capable in stabilizing the practical based inverted pendulum at vertical position. Desired design specifications which are 4 seconds settling time and 5 % overshoot is needed to apply in full state feedback controller based on pole placement technique. First of all, the mathematical model of an inverted pendulum system is derived to obtain the state space representation of the system. Then, the design phase of the State-Feedback Controller can be conducted after linearization technique is performed to the nonlinear equation with the aid of mathematical aided software such as Mathcad. After that, the design is simulated using MATLAB/Simulink software. The controller design of the inverted pendulum system is verified using simulation and experiment test. Finally the controller design is compared with PID controller for benchmarking purpose

A SIMULATION STUDY OF STATE-FEEDBACK CONTROL METHOD FOR ELECTRO HYDRAULIC SERVO MODEL

Electro hydraulic servo system is used by many industries due to its ability to impart large forces. It also has advantage in term of fast response and robustness. The electro hydraulic system suffered from errors of the transient response which are steady state error, settling time and the ripples. It is crucial to design a controller for the system to ensure the reliability of the system. Aiming at the characteristic of the system, steady state feedback control method is designed to compensate the error. The analysis of the system is done based on the transient response specifically on the actuator part. MATLAB Simulink is used as the simulation software to evaluate the force performance of state feedback controller method. The steady state error, settling time and ripple are observed and recorded for each controller. Three methods is applied, which are full feedback, state feedback with feed forward and integral control are compared with proportional, integral and derivatives (PID) controller. The result of each controller shows the differences performance. Based on the simulation results, the feedforward technique is found to be the best control technique for the electro hydraulic servo system due to the requirement performance such as percent overshoot, settling time, rise time and zero steady state error. This good result will directly benefit industries that use electro hydraulic system as their actuator for production machines

State-Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System

This paper presents a state space control technique for inverted pendulum system using simulation and real experiment via MATLAB/SIMULINK software. The inverted pendulum is difficult system to control in the field of control engineering. It is also one of the most important classical control system problems because of its nonlinear characteristics and unstable system. It has three main problems that always appear in control application which are nonlinear system, unstable and non-minimumbehavior phase system. This project will apply state feedback controller based on pole placement technique which is capable in stabilizing the practical based inverted pendulum at vertical position. Desired design specifications which are 4 seconds settling time and 5 % overshoot is needed to apply in full state feedback controller based on pole placement technique. First of all, the mathematical model of an inverted pendulum system is derived to obtain the state space representation of the system. Then, the design phase of the State-Feedback Controller can be conducted after linearization technique is performed to the nonlinear equation with the aid of mathematical aided software such as Mathcad. After that, the design is simulated using MATLAB/Simulink software. The controller design of the inverted pendulum system is verified using simulation and experiment test. Finally the controller design is compared with PID controller for benchmarking purpose

A Critical Analysis Of Fuzzy Logic Controller For Slip Control In Antilock Braking System (ABS)

This project aims at proposing an innovative way to implement the concept of fuzzy logic to an ABS model. The implementation of this project was conducted using simulation of ABS which is a combination from vehicle speed, wheel speed and slip through MATLAB Simulink software. By implementing fuzzy logic to the ABS system, the fuzzy logic can facilitate in improving the ABS abilities. The ABS model is developed and fuzzy logic controller is implemented to the model. The performance of the Fuzzy ABS is analyzed. The result shows that the fuzzy logic controller can facilitates the performance of the ABS by reducing the stopping time and maintaining the slip value near to 0.2

System Identification And Fuzzy Logic Controller Design For Prosthetic Hand System

Hand is an important parts of human physical bodies that have high complex structure with highest precision, flexibility and accurate movement involve a lot of numbers nerve connected. Amputees are people who have difficulties when dealing with their routine or daily life activities because of physical problem. This project to focus on the designing the prosthetic hand consist of the intelligent controller based on the multiple rule that having capabilities to operate on fuzzy logic control algorithms for amputees. This project utilized fuzzy logic controller to control the positioning of prosthetic hand as feedback input to provide the membership rule in fuzzy logic control algorithm. The results show that the designed controller has good capabilities to accurately control the prosthetic hand system

Robust Controller Design With Particle Swarm Optimization For Nonlinear Prosthetic Hand System

The recent trend of a prosthetic hand is gradually importance due to its capability to replace amputee’s hand that is lost caused by various factors. However, precision control of prosthetic hand is challenging task especially dealing with its high precision response and functionality. Apart of comprehensive modelling, the controller is another essential part that playing a vital role in the enhancement of the prosthetic hand performance. In this paper, a Sliding Mode Control (SMC) has been designed and integrated with the prosthetic hand, which parameters have been obtained through try and error technique, followed by an optimization technique using Particle Swarm Optimization (PSO) algorithm. The finding shows that the SMC, which is optimized using PSO algorithm outperforms the conventional SMC and proportional-integral-derivative (PID) controllers. Therefore, it can be inferred that appropriate controller with proper tuning technique is essential to achieve high precision performance for a prosthetic hand

Intelligent Controller Design For Multifunctional Prosthetics Hand

Prosthetics hand is replacement of original hands that lose or damage because of war, trauma, accident or congenital anomalies. However, problems often occur on a prosthetics hand when dealing with the control capabilities and devising functional. Thus, an advanced mechanical design with control approach is required to improve the performance in terms of quality control in prosthetics hand and also enhance existing capabilities to the optimum level. This paper aims to develop a functional prosthetics hand at upper limb, which will focus on position of human hand particularly using the movement of finger instructions. In this paper, an intelligent controller, Fuzzy with Proportional-Integral-Derivative (Fuzzy-PID) controller is proposed to realize accurate force control with high performance. The performance of prosthetics hand model controlled by Fuzzy-PID controller is outperform the conventional PID controller and Fuzzy controller, where the improvement of the transient response and steady state error is achieved. Performance comparison of three different controllers has been presented through these evaluation process

Wireless electronic notice board

This project is designed to develop a Wireless Electronic Notice Board. It is widely used to display latest information anywhere such as faculty, shop, mosque and other places. This Wireless Electronic Notice Board offers the flexibility to user to control the information display within 25m range. The information is transmitted using RF as wireless technique. The Wireless Electronic Notice Board consists of two module; transmitter and receiver module. There are five parts in transmitter module and four parts in receiver module. In transmitter module, there are keypad, Liquid Crystal Display (LCD), Microcontroller, encoder and transmitter. In receiver module there are receiver, decoder, microcontroller, and dot matrix. This project is based on MC68HC11A1 microcontroller. Assembly language is used to program the microcontroller

A SIMULATION STUDY OF STATE-FEEDBACK CONTROL METHOD FOR ELECTRO HYDRAULIC SERVO MODEL

Electro hydraulic servo system is used by many industries due to its ability to impart large forces. It also has advantage in term of fast response and robustness. The electro hydraulic system suffered from errors of the transient response which are steady state error, settling time and the ripples. It is crucial to design a controller for the system to ensure the reliability of the system. Aiming at the characteristic of the system, steady state feedback control method is designed to compensate the error. The analysis of the system is done based on the transient response specifically on the actuator part. MATLAB Simulink is used as the simulation software to evaluate the force performance of state feedback controller method. The steady state error, settling time and ripple are observed and recorded for each controller. Three methods is applied, which are full feedback, state feedback with feed forward and integral control are compared with proportional, integral and derivatives (PID) controller. The result of each controller shows the differences performance. Based on the simulation results, the feedforward technique is found to be the best control technique for the electro hydraulic servo system due to the requirement performance such as percent overshoot, settling time, rise time and zero steady state error. This good result will directly benefit industries that use electro hydraulic system as their actuator for production machines

Controller Design for Vector Controlled AC Induction Motor Drive using State-space Design Methodologies

Recently, Vector Control also known as Field Oriented control used in AC induction motor drive provides us of a way to control AC induction motor similar to that of a DC motor. This objective is achieved by transforming the time-varying, difficult to control stator currents into a simple time-invariant system by means of coordinate transformations. This in turn provides us with a systematical way towards designing a controller using classical control or modern state-space design methodologies. Purpose of this research is to use the latter in designing a controller towards regulating current responsible for torque response. A non-linear model of the AC Induction Motor is modeled in the rotating (d,q) reference frame for the control purposes. Then, a state feedback linearization controller was design based on the idea of “exact linearization” to transform the nonlinear model into linear state-space model, thus enabling controller design using modern state-space approach. A Linear Quadratic optimal controller and Feedback+Feedforward controller is then designed and applied to the linearized induction motor model. For comparison purposes a classical P/PI controller was also designed. Simulation is then carried out using MATLAB/SIMULINK software and results shows good current regulation by controller design using modern state –space methodologies