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All Journal Saintifik : Jurnal Matematika, Sains, dan Pembelajarannya Indonesian Journal of Electrical Engineering and Computer Science
Janson Naiborhu
Institut Teknologi Bandung
Mathematics Physics Other

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Tracking control for planar nonminimum-phase bilinear control system with disturbance using backstepping Khozin Mu`tamar; Janson Naiborhu; Roberd Saragih; Dewi Handayani
Indonesian Journal of Electrical Engineering and Computer Science Vol 26, No 3: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v26.i3.pp1315-1327

Abstract

This article presents the design control of a tracking problem for a non-minimum phase bilinear control system containing disturbance. The bilinear control system is assumed to have a relative degree one and non-minimum phase, which means it has unstable internal dynamics. The disturbance exists only in state variables corresponding to the control function in external dynamics. The control design was carried out using the backstepping method, which was applied to the normal form of the bilinear control system. Internal dynamics will be stabilised using virtual control to overcome unstable internal dynamics. The last step will stabilise the external dynamics and disturbance using the original control function. The simulation results show that the proposed control method can rapidly drive the output to the given trajectory. Control performance varies depending on the control parameter setting. The higher the control parameter, the better the control performance, evaluated using integral absolute error.
Stabilisasi Umpan Balik Output Semi-Global dari Sistem Nonlinear Berfase Non-Minimum Ansar Ansar; Janson Naiborhu
SAINTIFIK Vol 5 No 2 (2019): Saintifik: Jurnal Matematika, Sains, dan Pembelajarannya
Publisher : Universitas Sulawesi Barat

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (547.54 KB) | DOI: 10.31605/saintifik.v5i2.226

Abstract

Penelitian ini membahas masalah output feedback dari kelas nonlinear dengan meng• gunakan Extended Kalman Filter - Extended High Gain Observer (EKF-EHGO). Dengan menggunakan kontrol output feedback yang memenuhi input state sta• bility (ISS), ketidakstabilan dinamik internal dapat diubah menjadi stabil semi-global di titik asal. Karena output pada sistem yang berbentuk nor• mal tidak bisa diukur, output tersebut akan diestimasi dengan menggunakan EKF-EHGO. Solusi masalah ini diilustrasikan dengan contoh
Co-Authors Ansar Dewi Handayani Khozin Mu'tamar Roberd Saragih