Stabilisasi Sistem Kontrol Bilinier Dengan Gangguan Menggunakan Linierisasi Eksak Dan Backstepping
DOI:
https://doi.org/10.34151/jurtek.v14i1.3549Keywords:
backstepping, derajat relatif, fungsi gangguan, kontrol biliniear, linierisasi umpan balikAbstract
Sistem kontrol bilinear banyak digunakan dalam teknik dan kimia untuk memodelkan dinamika karena memiliki pendekatan dan kinerja yang lebih baik daripada sistem kontrol linier. Namun asumsi dan keterbatasan dalam pemodelan akan menghasilkan faktor ketidakpastian, yaitu berupa parameter taktentu dan fungsi gangguan. Pada artikel ini dibahas tentang desain kontrol pada sistem kontrol bilinier berorde dua dengan adanya fungsi gangguan. Diasumsikan sistem memiliki derajat relatif dua dan fungsi gangguan hanya berpengaruh pada dinamik variabel keadaan yang dikontrol. Sistem kontrol bilinier diasumsikan memiliki derajat relatif dua sehingga dapat ditransformasi secara eksak menjadi bentuk normal menggunakan transformasi umpan balik. Desain kontrol dilakukan berdasarkan sistem linier menggunakan metode backstepping. Hasil simulasi menunjukkan bahwa fungsi kontrol yang diperoleh dapat membawa luaran sistem dari titik awal menuju titik asal dalam waktu yang relatif singkat.
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