Two-wheeled self-balancing robot is a popular model in control system experiments which is more widely known as inverted pendulum and cart model. This is a multi-input and multi-output system which is theoretical and has been applied in many systems in daily use. Anyway, most research just focus on balancing this model through try-on experiments or by using simple form of mathematical model. There were still few researches that focus on complete mathematic modeling and designing a mathematical model based controller for such system. This paper analyzed mathematical model of the system. Then, the authors successfully applied a Linear Quadratic Regulator (LQR) controller for this system. This controller was tested with different case of system condition. Controlling results was proved to work well and tested on different case of system condition through simulation on matlab/Simulink program.
FIGURE 1. Microgrid systems are consisting of several subsystems. FIGURE 2. Single-phase representation of inverter, filter and line connection in a subsystem VOLUME XX, 2017 3 B. SUBSYSTEM STABILITY IN SHARING POWER IV. CASE STUDY WITH PV DATA MONITORING A. DESCRIPTION OF THE SYSTEM FIGURE 5. AC Microgrid system with two subsystems as a case study including DERs, Load, and the area EPS.
This paper presents a method that combines fuzzy inference system and Integral-Proportional named Fuzzy-IP controller to regulate an independent microgrid voltage with a distributed energy resource unit. The unit employed photovoltaic (PV) array with DC voltage converted to three-phase AC voltage. The control design was carried out through modeling and simulation using Matlab software environment. Transfer function with the 2×2 structure using system identification has estimated the non-linear plant model. Two controllers transformed the ab-c to the d-q axis coordinates of voltage to simplify linear control design. An oscillator is applied to set frequency according to the recommendation. The results show that the compensated casestudy system using Fuzzy-IP with disturbance tracked the setpoint excellently and it regulated the voltage properly including frequency control using internal oscillator. The paper presents performance superiority of the proposed method over PI control by comparing the transient response, the mean squared error, and the root mean squared error.
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