A Cart Inverted Pendulum System is an unstable, nonlinear and underactuated system. This makes a cart inverted pendulum system used as a benchmark for testing many control method. A cart must occupy the desired position and the angle of the pendulum must be in an equilibrium point. System modeling of a cart inverted pendulum is important for controlling this system, but modeling using assumptions from state-feedback control is not completely valid. To minimize unmeasured state variables, state estimators need to be designed. In this paper, the state estimator is designed to complete the state-feedback control to control the cart inverted pendulum system. The mathematical model of the cart inverted pendulum system is obtained by using the Lagrange equation which is then changed in the state space form. Mathematical models of motors and mechanical transmissions are also included in the cart inverted pendulum system modeling so that it can reduce errors in a real-time application. The state gain control parameter is obtained by selecting the weighting matrix in the Linear Quadratic Regulator (LQR) method, then added with the Leuenberger observer gain that obtained by the pole placement method on the state estimator. Simulation is done to determine the system performance. The simulation results show that the proposed method can stabilize the cart inverted pendulum system on the cart position and the desired pendulum angle.
Arterial pulse signal reading by a therapist in Traditional Chinese Medicine (TCM) requires considerable experience and thoroughness. The interpretation resulted by the therapist is very subjective. The objectivity of the device can be achieved by increasing the accuracy and the consistency of the reading in the range of 1-2 Hz. An electret condenser microphone (ECM) can be used as a pulse sensor in such device. This study reveals that ECM performs a number of advantages such as small-sized and inexpensive. Unfortunately, this ECM also picks up mechanical noises during direct contact with the subject. This study proposed soft silicon rubber as a medium between subjects and ECM. The technique was designed to enhance the mechanical coupling between the ECM and the source signal without affecting the signal source. The results show that the ECM could measure the signal of 0.5-10 Hz with the average accuracy of 99,47%.
The system of a cart inverted pendulum has many problems such as nonlinearity, complexity, unstable, and underactuated system. It makes this system be a benchmark for testing many control algorithm. This paper presents a comparison between 2 conventional control methods consist of a linear quadratic regulator (LQR) and pole placement. The comparison indicated by the most optimal steps and results in the system performance that obtained from each method for stabilizing a cart inverted pendulum system. A mathematical model of DC motor and mechanical transmission are included in a mathematical model to minimize the realtime implementation problem. From the simulation, the obtained system performance shows that each method has its advantages, and the desired pendulum angle and cart position reached.
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