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.
Simulation monitoring system design on water parameters turbidity, temperature, TDS, color using HMI (human machine interface) communicated with PLC equipment. measuring instrument of 2 mV, the state of the water parameters is not normal by providing input data of 3 degrees and the measurement results show about 3 mV. turbidity is obtained at normal times 5 on the NTU scale at a measurement of 5 mV, while in abnormal conditions the results with 6 NTU scale data input produce about 6 mV. TDS obtained voltage at normal time is 1000 mg/l. Then the measurement using a volt meter is obtained by 1V, while in abnormal water parameters the input data is 1500 mg/liter, it produces a value of 1.5 V. The color of the water is obtained when the normal voltage is 15 on the NTU scale on the measurement on a volt meter measuring instrument of 15 mV, while in abnormal water parameters the results are around 16 mV. So that the sensor selection must be within the range of the output voltage value of the sensor device and the water parameter transducer must match the input from the analog PLC.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.