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http://repository.ipb.ac.id/handle/123456789/63294
Title: | Optimization problem in inverted pendulum system with oblique track |
Other Titles: | Proceedings of The 6th SEAMS-GMU Conference 2011 |
Authors: | Edisusanto, Bambang Bakhtiar, Toni Kusnanto, Ali |
Keywords: | inverted pendulum tracking error optimal pendulum length |
Issue Date: | 2011 |
Publisher: | IPB (Bogor Agricultural University) |
Abstract: | Abstract. This paper studies an optimization problem, i.e., the optimal tracking error control problem, on an inverted pendulum model with oblique track. We characterize the minimum 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. |
URI: | http://repository.ipb.ac.id/handle/123456789/63294 |
Appears in Collections: | Proceedings |
Files in This Item:
File | Size | Format | |
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SEAMS-GMU pp. 339.pdf | 131.44 kB | Adobe PDF | View/Open |
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