Open AccessMASALAH GALAT PENJEJAKAN MINIMUM PADA SISTEM PENDULUM TERBALIK
Author(s) -
Toni Bakhtiar
Publication year - 2010
Publication title -
journal of mathematics and its applications jma
Language(s) - English
Resource type - Journals
ISSN - 1412-677X
DOI - 10.29244/jmap.9.1.15-22
Subject(s) - inverted pendulum , pendulum , control theory (sociology) , tracking error , kapitza's pendulum , mathematics , double inverted pendulum , tracking (education) , double pendulum , furuta pendulum , term (time) , computer science , physics , control (management) , nonlinear system , artificial intelligence , psychology , pedagogy , quantum mechanics
This paper studies the optimal tracking error control problem on an inverted pendulum model. We characterize the optimal tracking error in term of pendulum’s parameters. Particularly, we derive the closed form expression for the pendulum length which gives minimum error. It is shown that the minimum error can always be accomplished as long as the ratio between the mass of the pendulum and that of the cart satisfies a certain constancy, regardless the type of material we use for the pendulum.