MASALAH GALAT PENJEJAKAN MINIMUM PADA SISTEM PENDULUM TERBALIK | Zendy

Toni Bakhtiar | Zendy

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MASALAH GALAT PENJEJAKAN MINIMUM PADA SISTEM PENDULUM TERBALIK

Author(s) -

Toni Bakhtiar

Publication year - 2010

Publication title -

milang journal of mathematics and its applications

Language(s) - English

Resource type - Journals

ISSN - 2963-5233

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.

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