A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study the design and the effectiveness of the Adaptive Super-Twisting controller to stabilize the system by comparing it with other previous control methods. A stabilization control of the pendulum upright using the Adaptive Super-Twisting algorithm (ASTA), was investigated. The proposed controller was designed based on the decoupling algorithm method to solve the coupled control input in the system model. We then compared the proposed stabilizing controller with first-order sliding mode control (FOSMC) and Super-Twisting algorithm (STA) in Matlab/Simulink simulation and realistic computer simulation. We developed the computer simulation using anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In Matlab/Simulink simulation, we considered three different scenarios: a nominal system, a system with uncertainty, and a disturbed system. Meanwhile, in a computer simulation, we only presented the comparison of different controllers' performances for the realized system. Both results showed that the three controllers could stabilize the pendulum upright with 0.1 rad initial angular position around the vertical axis. Under the same conditions, the ASTA and STA controllers had similar performances; they both have less chattering and faster convergence than the FOSMC approach. However, the FOSMC approach had the least energy delivered and smallest errors than the other two approaches.
Internet of Thing untuk sistem penerangan biasanya berupa kontrol ON/OFF lampu dengan mengunakan jaringa internet. Penelitian ini bertujuan untuk membuat peralatan Internet of Things (IoT) berupa fitting lampu yang dapat dikontrol menggunakan jaringan internet maupun jaringan wireless tanpa internet. Komponen utama yang digunakan adalah nodemcu esp8266. Fitting lampu ini dapat dengan mudah dipasang dan digunakan tanpa melakukan modifikasi pada jaringan listrik yang telah ada. Alat ini bernilai ekonomis karena dapat digunakan untuk lampu jenis apapun.Alat ini dapat dikontrol emlalui smartphone dengan tiga mode yaitu mode acess point, mode wifi tanpa internet dan mode tehubung jaringan internet. Untuk mode pertama dan kedua menggunakan aplikasi browser untuk mengakses nodemcu, sedangkan mdoe ketiga menggunakan protokol mqtt. Hasil ujicoba mempeeliahtkan mdoe ketiga mempunyai respon lebih lambat dibandingakn dua mode lainnya. Hasil lainnya adalah ketika nodemcu tidak terhubung ke internet atau jaringan WLAN, hanya mode 1 yang dapat digunakan dengan respon yang lebih lama dibandingkan tekita tehubung ke jaringan.
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