Modelling and control of inverted pendulum on the rotating disc

This research work studies about modelling and control of inverted pendulum on the rotating disc by using classical, modern, and intelligent control techniques. In this study, the classical control techniques use proportional-plus-derivative (PD) and proportionalplus- integral (PI) controllers, the modern control techniques that use Linear Quadratic Regulator controller (LQR), and intelligent control technique that use Fuzzy Logic (FL) controller. The main goal of this study is to model and control the dynamic modelling of the inverted pendulum on the rotating by using the above-mentioned control techniques. Among the problems identified for this project are balancing inverted pendulum on the rotating disc with the presence disturbance and establishing stability for a dynamical inverted pendulum on the rotating disc. The practical results in controlling the inverted pendulum and eliminating the disturbance are obtained via the following techniques: the MATLAB root locus for the PD and PI controllers; the optimal control for LQR controller; and the fuzzification and the defuzzification for the FL controller as a perspicuous view of its transient response stability. In the transient response, the balancing and stability of the inverted pendulum on the rotating disc are affected by the presence of the disturbances. The presence of the disturbance that is controlled by LQR controller shows the condition to the inverted pendulum on the rotating disc. Moreover, from the results obtained, it is found to be asymptotically stable by Lyapunov’s stability analysis. The mathematical model of the inverted pendulum on the rotating disc has been developed and the output response with disturbances show LQR controller have achieved good performance compared to PD, PI and FL controllers. This study applicable for the robot cycling transportation that delivers goods for customers

A Review of Hybrid Battery Management System (H-BMS) for EV

Significant to a major pollution contributor in passenger vehicles, electric vehicles are more acceptable to use on the road. Electric Vehicles (EVs) burn energy based on the usage of the battery. The usage of the battery in EVs is monitored and controlled by Battery Management System (BMS). A few factors monitor and control Battery Management System (BMS). This paper reviewed the battery charging technology and Remote Terminal Unit (RTU) development as a Hybrid Battery Management System (H-BMS) for Electric Vehicle (EV)

Development of PI controller for disc speed

This paper discuss about the development of Proportional and Integral (PI) controller for disc speed by involving the disturbance at the feedback control. The effect of the disturbance to the disc speed system is eliminated by Proportional and Integral (PI) controller. The PI controller is tuned heuristically from the MATLAB/simulink at which integrated with the disc plant. The performance of the disc plant is analyzed in real-time. Based on the analysis in real-time, this paper shows that the performance of the PI controller with disturbance and without disturbance. The result with disturbance shows that the output response quite closes to the result without disturbance even though the overshoot is about 8 percent. By the way, the rise time and settling time of the disc speed with disturbance is reduced for the time less than 0.01 and 0.95 seconds each. From the results with and without disturbance, this paper concludes that the development of PI controller for this speed in simulation give less error about 0.02 compared to the real-time system

Dynamic Economic Dispatch Problems: PSO Approach

Due to limited availability of coal and gases, optimization plays an important factor in thermal generation problems. The economic dispatch problems are dynamic in nature as demand varies with time. These problems are complex since they are large dimensional, involving hundreds of variables, and have a number of constraints such as spinning reserve and group constraints. Particle Swarm Optimization (PSO) method is used to solve these challenging optimization problems. Three test cases are studied where PSO technique is successfully applied

DEVELOPMENT OF PD CONTROLLER FOR COMPARISON STABILITY STUDY IN MULTIPLE DIFFERENCE DISTURBANCES

This paper discusses the development of PD controller for comparison stability study in multiple difference disturbances. The multiple difference disturbances in this paper are added to the inverted pendulum model that based on robotic leg application such as pendubot. By applying the pendubot model via Simulink block diagram, the performance between the model and disturbances are compared for stability in the simulation results. The simulation results show that the PD controller play the main role to reduce or eliminate disturbances

MODELING AND SIMULATION FOR INVERTED PENDULUM ON ROTATING DISC

The point of view expressed in this paper will be focused on modeling and simulation for inverted pendulum on rotating disc. The inverted pendulum has been modeled separately into three parts of sub-model as well as DC motor, rotating disc and pendulum models. The stable and unstable system depends on an effect of a torque which is proportional to speed and opposed to motion and force applied to the plant. It shall be argued in this paper that inverted pendulum is one of the unstable systems. The output response will be based on simulation results

Modeling of the Disc Speed

This paper presents the modeling of the disc speed. The analysis and design of control systems for the modeling is assigned in leading computer solutions and linearized nonlinear systems

Stability Study of PD and PI Controllers in Multiple Difference Disturbances

This paper discusses the stability study of PD and PI controllers in multiple difference disturbances. The multiple differences in this paper are added to the inverted pendulum model that based on robotic leg application such as pendubot. By applying the pendubot model via MATLAB/Simulink block diagram, the performances between the model and disturbances are compared for stability in the simulation results. The simulation results showed that the PD controller could reduce and eliminate disturbances more effective than PI controller in the pendubot model. Overall, the simulation results are based on stability analysis for the degree of stability, steady state performance and transient response

The sustainability of passenger boat services in Malaysia

In this article, the researchers discuss the sustainability of passenger boat services in Kuala Terengganu. This study used a qualitative approach involving a survey, interviews, and observations. The survey and the interview involved 230 boat passengers and Mr. Mohamed Ibrahim (the Chairperson of the Boat Passengers Association), respectively. Additionally, the researchers observed the operations of boat services at several jetties. The research findings showed that five factors had significant impacts on the sustainability of passenger boat services, namely the quality of boat services, the facilities of road networks, the services of boat operators, governmental assistance, and car ownership. Among these factors, the quality of boat services was the most influential factor that had a significant impact on the sustainability of water transportation in Kuala Terengganu. In conclusion, the sustainability of passenger boat services in Kuala Terengganu is precariously low, entailing immediate financial assistance and logistical support from relevant governmental agencies to invigorate the ailing services by becoming sustainable and economically vibrant

Distribution of hyaluronidase-producing staphylococcus aureus and staphylococcus epidermidis isolated from palm skin and anterior nares of healthy Malaysian adults

Introduction: The distribution of Staphylococcus aureus and Staphylococcus epidermidis among Malaysian healthy adults and their capability to produce enzyme hyaluronidase are less reported. Hyaluronidase degrade hyaluronic acid in animal connective tissue and facilitate bacterial spreading in host body. This study aims to identify the distribution of both Staphylococci species in healthy subject, the hyaluronidase producer among the isolates and the association of the latter with site of isolation (palm skin and anterior nares) and gender of the host. Methods: A total of 108 swab samples were collected from anterior nares and palm of 54 healthy subjects. The bacteria were identified through microscopic and biochemical tests, before screened for hyaluronidase production using hyaluronic acid diffusion rapid plate method. Results: Total of 139 bacterial isolates were identified; 68 isolates are S. aureus, 63 S. epidermidis and 8 other bacterial species. Staphylococcus aureus was highly isolated from palm (57%) than anterior nares (47%). On the contrary for S. epidermidis was highly isolated from anterior nares (53%) than from palm skin (43%). Equal proportion was found for both species in male and female subject. A total of 77 (59%) isolates produced hyaluronidase; 55% are S. aureus and 45% are S. epidermidis. Hyaluronidase-producer isolates are equally found between anterior nares (56%) and palm skin (61%) or male (57%) and female subject (60%) regardless of Staphylococcal species. No significant value was recorded for any analysis. Conclusion: Capability of commensal S. aureus and S. epidermidis isolated from healthy subject to produce hyaluronidase may indicate their potential as opportunistic pathogen whenever the opportunity arises in any way