| Issue |
E3S Web Conf.
Volume 188, 2020
The 4th International Conference on Electrical Systems, Technology and Information (ICESTI 2019)
|
|
|---|---|---|
| Article Number | 00025 | |
| Number of page(s) | 9 | |
| DOI | https://doi.org/10.1051/e3sconf/202018800025 | |
| Published online | 08 September 2020 | |
How A PID Controlling A Nonlinear Plant
1
Department of Electrical Engineering, Faculty of Engineering, HKBP Nommensen University, Jl. Sutomo No. 4-A, Medan 20234, North Sumatera, Indonesia
2
Mechatronic Department, National Chung Cheng University, Daxue Road, Minxiong Township, Chiayi, 62102 Taiwan
* Corresponding author: timbang.pangaribuan@uhn.ac.id
This paper investigates the weakness of feedback controller to find the best parameter of PID controller of a nonlinear inverted pendulum system (NL-IPS). Stability and performance analysis of a NL-IPS are carried out with combination of feedback and PID controllers. It is found that the NL-IPS which was stabilized by feedback controller provides some weakness. By addition of PID controller on closed loop NL-IPS will provide better tracking and response on zero steady state error.
Key words: Feedback controller / nonlinear inverted pendulum / PID controller / steady-state error / weakness
© The Authors, published by EDP Sciences, 2020
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