This document compares the performance of an LQR controller and PD controller for stabilizing a double inverted pendulum system. It first describes the nonlinear dynamics of a double inverted pendulum and derives its equations of motion. It then linearizes the system around the equilibrium point to obtain a state space model. Next, it analyzes the stability, controllability and observability of the linearized system. Finally, it implements both an LQR controller and PD controller in MATLAB/Simulink to control the double inverted pendulum and compare their performance with respect to the pendulum angles and cart position.
This presentation is intended for undergraduate students in physics and engineering.
Please send comments to solo.hermelin@gmail.com.
For more presentations on different subjects please visit my homepage at http://www.solohermelin.com.
This presentation is in the Physics folder.
Rotation in 3d Space: Euler Angles, Quaternions, Marix DescriptionsSolo Hermelin
Mathematics of rotation in 3d space, a lecture that I've prepared.
This presentation is at a Undergraduate in Science (Math, Physics, Engineering) level.
Please send comments and suggestions to solo.hermelin@gmail.com. Thanks!
Fore more presentations, please visit my website at
http://www.solohermelin.com/
NITheP WITS node Seminar by Dr Dr. Roland Cristopher F. Caballar (NITheP/UKZN)
TITLE: "One-Dimensional Homogeneous Open Quantum Walks"
ABSTRACT: In this talk, we consider a system undergoing an open quantum walk on a one-dimensional lattice. Each jump of the system between adjacent lattice points in a given direction corresponds to a jump operator, with these jump operators either commuting or not commuting. We examine the dynamics of the system undergoing this open quantum walk, in particular deriving analytically the probability distribution of the system, as well as examining numerically the behavior of the probability distribution over long time steps. The resulting distribution is shown to have multiple components, which fall under two general categories, namely normal and solitonic components. The analytic computation of the probability distribution for the system undergoing this open quantum walk allows us to determine at any instant of time the dynamical properties of the system.
NITheP UKZN Seminar: Prof. Alexander Gorokhov (Samara State University, Russi...Rene Kotze
NITheP UKZN Seminar: Prof. Alexander Gorokhov (Samara State University, Russia)
TITLE: Dynamical Groups, Coherent States and Some of their Applications in Quantum Optics and Molecular Spectroscopy
Wits Node Seminar: Dr Sunandan Gangopadhyay (NITheP Stellenbosch)
TITLE: Path integral action of a particle in the noncommutative plane and the Aharonov-Bohm effect
Network-Growth Rule Dependence of Fractal Dimension of Percolation Cluster on...Shu Tanaka
Our paper entitled “Network-Growth Rule Dependence of Fractal Dimension of Percolation Cluster on Square Lattice" was published in Journal of the Physical Society of Japan. This work was done in collaboration with Dr. Ryo Tamura (NIMS).
http://journals.jps.jp/doi/abs/10.7566/JPSJ.82.053002
NIMSの田村亮さんとの共同研究論文 “Network-Growth Rule Dependence of Fractal Dimension of Percolation Cluster on Square Lattice" が Journal of the Physical Society of Japan に掲載されました。
http://journals.jps.jp/doi/abs/10.7566/JPSJ.82.053002
This presentation is intended for undergraduate students in physics and engineering.
Please send comments to solo.hermelin@gmail.com.
For more presentations on different subjects please visit my homepage at http://www.solohermelin.com.
This presentation is in the Physics folder.
Rotation in 3d Space: Euler Angles, Quaternions, Marix DescriptionsSolo Hermelin
Mathematics of rotation in 3d space, a lecture that I've prepared.
This presentation is at a Undergraduate in Science (Math, Physics, Engineering) level.
Please send comments and suggestions to solo.hermelin@gmail.com. Thanks!
Fore more presentations, please visit my website at
http://www.solohermelin.com/
NITheP WITS node Seminar by Dr Dr. Roland Cristopher F. Caballar (NITheP/UKZN)
TITLE: "One-Dimensional Homogeneous Open Quantum Walks"
ABSTRACT: In this talk, we consider a system undergoing an open quantum walk on a one-dimensional lattice. Each jump of the system between adjacent lattice points in a given direction corresponds to a jump operator, with these jump operators either commuting or not commuting. We examine the dynamics of the system undergoing this open quantum walk, in particular deriving analytically the probability distribution of the system, as well as examining numerically the behavior of the probability distribution over long time steps. The resulting distribution is shown to have multiple components, which fall under two general categories, namely normal and solitonic components. The analytic computation of the probability distribution for the system undergoing this open quantum walk allows us to determine at any instant of time the dynamical properties of the system.
NITheP UKZN Seminar: Prof. Alexander Gorokhov (Samara State University, Russi...Rene Kotze
NITheP UKZN Seminar: Prof. Alexander Gorokhov (Samara State University, Russia)
TITLE: Dynamical Groups, Coherent States and Some of their Applications in Quantum Optics and Molecular Spectroscopy
Wits Node Seminar: Dr Sunandan Gangopadhyay (NITheP Stellenbosch)
TITLE: Path integral action of a particle in the noncommutative plane and the Aharonov-Bohm effect
Network-Growth Rule Dependence of Fractal Dimension of Percolation Cluster on...Shu Tanaka
Our paper entitled “Network-Growth Rule Dependence of Fractal Dimension of Percolation Cluster on Square Lattice" was published in Journal of the Physical Society of Japan. This work was done in collaboration with Dr. Ryo Tamura (NIMS).
http://journals.jps.jp/doi/abs/10.7566/JPSJ.82.053002
NIMSの田村亮さんとの共同研究論文 “Network-Growth Rule Dependence of Fractal Dimension of Percolation Cluster on Square Lattice" が Journal of the Physical Society of Japan に掲載されました。
http://journals.jps.jp/doi/abs/10.7566/JPSJ.82.053002
Describes the mathematics of the Calculus of Variations.
For comments please contact me at solo.hermelin@gmail.com.
For more presentations on different subjects visit my website on http://www.solohermelin.com
Significance of Mathematical Analysis in Operational Methods [2014]SanjayKumar Patel
Dr Ajay Shukla from SVNIT came to Ahmedabad on 2nd August 2014,to deliver the lecture on Significance of Mathematical Analysis in Operational Methods ....
Lecture was held in St. Xavier's College,Ahmedabad under the Father Valles Lecture Series...
Analytical Solution Of Schrödinger Equation With Mie–Type Potential Using Fac...ijrap
we have obtained the analytical solution of Schrödinger wave equation with Mie – type potential
using factorization method. We have also obtained energy eigenvalues of our potential and the
corresponding wave function using an ansatz and then compare the result to standard Laguerre’s
differential equation. Under special cases our potential model reduces two well known potentials such as
Coulomb and the Kratzer Feus potentials.
On the k-Riemann-Liouville fractional integral and applications Premier Publishers
Fractional calculus is a generalization of ordinary differentiation and integration to arbitrary non-integer order. The subject is as old as differential calculus and goes back to times when G.W. Leibniz and I. Newton invented differential calculus. Fractional integrals and derivatives arise in many engineering and scientific disciplines as the mathematical modeling of systems and processes in the fields of physics, chemistry, aerodynamics, electrodynamics of a complex medium. Very recently, Mubeen and Habibullah have introduced the k-Riemann-Liouville fractional integral defined by using the -Gamma function, which is a generalization of the classical Gamma function. In this paper, we presents a new fractional integration is called k-Riemann-Liouville fractional integral, which generalizes the k-Riemann-Liouville fractional integral. Then, we prove the commutativity and the semi-group properties of the -Riemann-Liouville fractional integral and we give Chebyshev inequalities for k-Riemann-Liouville fractional integral. Later, using k-Riemann-Liouville fractional integral, we establish some new integral inequalities.
Aurelian Isar - Decoherence And Transition From Quantum To Classical In Open ...SEENET-MTP
Lecture by Prof. Dr. Aurelian Isar (Department of Theoretical Physics, National Institute of Physics and Nuclear Engineering, Bucharest-Magurele, Romania) on October 20, 2011 at the Faculty of Science and Mathematics, Nis, Serbia.
SOLUTIONS OF THE SCHRÖDINGER EQUATION WITH INVERSELY QUADRATIC HELLMANN PLUS ...ijrap
The solutions of the Schrödinger equation with inversely quadratic Hellmann plus Mie-type potential for
any angular momentum quantum number have been presented using the Nikiforov-Uvarov method. The
bound state energy eigenvalues and the corresponding un-normalized eigenfunctions are obtained in terms
of the Laguerre polynomials. Several cases of the potential are also considered and their eigen values obtained.
We give an elementary exposition of a method to obtain the infinitesimal point symmetries of Lagrangians.Besides, we exhibit the Lanczos approach to Noether’s theorem to construct the first integral associated with each symmetry.
MSC 2010:49S05, 58E30, 70H25, 70H33
Reduced Order Observer (DGO) based State Variable Design of Two Loop Lateral ...IJERD Editor
International Journal of Engineering Research and Development is an international premier peer reviewed open access engineering and technology journal promoting the discovery, innovation, advancement and dissemination of basic and transitional knowledge in engineering, technology and related disciplines.
Reduced Order Observer (DGO) based State Variable Design of Two Loop Lateral ...IJERD Editor
International Journal of Engineering Research and Development is an international premier peer reviewed open access engineering and technology journal promoting the discovery, innovation, advancement and dissemination of basic and transitional knowledge in engineering, technology and related disciplines.
Describes the mathematics of the Calculus of Variations.
For comments please contact me at solo.hermelin@gmail.com.
For more presentations on different subjects visit my website on http://www.solohermelin.com
Significance of Mathematical Analysis in Operational Methods [2014]SanjayKumar Patel
Dr Ajay Shukla from SVNIT came to Ahmedabad on 2nd August 2014,to deliver the lecture on Significance of Mathematical Analysis in Operational Methods ....
Lecture was held in St. Xavier's College,Ahmedabad under the Father Valles Lecture Series...
Analytical Solution Of Schrödinger Equation With Mie–Type Potential Using Fac...ijrap
we have obtained the analytical solution of Schrödinger wave equation with Mie – type potential
using factorization method. We have also obtained energy eigenvalues of our potential and the
corresponding wave function using an ansatz and then compare the result to standard Laguerre’s
differential equation. Under special cases our potential model reduces two well known potentials such as
Coulomb and the Kratzer Feus potentials.
On the k-Riemann-Liouville fractional integral and applications Premier Publishers
Fractional calculus is a generalization of ordinary differentiation and integration to arbitrary non-integer order. The subject is as old as differential calculus and goes back to times when G.W. Leibniz and I. Newton invented differential calculus. Fractional integrals and derivatives arise in many engineering and scientific disciplines as the mathematical modeling of systems and processes in the fields of physics, chemistry, aerodynamics, electrodynamics of a complex medium. Very recently, Mubeen and Habibullah have introduced the k-Riemann-Liouville fractional integral defined by using the -Gamma function, which is a generalization of the classical Gamma function. In this paper, we presents a new fractional integration is called k-Riemann-Liouville fractional integral, which generalizes the k-Riemann-Liouville fractional integral. Then, we prove the commutativity and the semi-group properties of the -Riemann-Liouville fractional integral and we give Chebyshev inequalities for k-Riemann-Liouville fractional integral. Later, using k-Riemann-Liouville fractional integral, we establish some new integral inequalities.
Aurelian Isar - Decoherence And Transition From Quantum To Classical In Open ...SEENET-MTP
Lecture by Prof. Dr. Aurelian Isar (Department of Theoretical Physics, National Institute of Physics and Nuclear Engineering, Bucharest-Magurele, Romania) on October 20, 2011 at the Faculty of Science and Mathematics, Nis, Serbia.
SOLUTIONS OF THE SCHRÖDINGER EQUATION WITH INVERSELY QUADRATIC HELLMANN PLUS ...ijrap
The solutions of the Schrödinger equation with inversely quadratic Hellmann plus Mie-type potential for
any angular momentum quantum number have been presented using the Nikiforov-Uvarov method. The
bound state energy eigenvalues and the corresponding un-normalized eigenfunctions are obtained in terms
of the Laguerre polynomials. Several cases of the potential are also considered and their eigen values obtained.
We give an elementary exposition of a method to obtain the infinitesimal point symmetries of Lagrangians.Besides, we exhibit the Lanczos approach to Noether’s theorem to construct the first integral associated with each symmetry.
MSC 2010:49S05, 58E30, 70H25, 70H33
Reduced Order Observer (DGO) based State Variable Design of Two Loop Lateral ...IJERD Editor
International Journal of Engineering Research and Development is an international premier peer reviewed open access engineering and technology journal promoting the discovery, innovation, advancement and dissemination of basic and transitional knowledge in engineering, technology and related disciplines.
Reduced Order Observer (DGO) based State Variable Design of Two Loop Lateral ...IJERD Editor
International Journal of Engineering Research and Development is an international premier peer reviewed open access engineering and technology journal promoting the discovery, innovation, advancement and dissemination of basic and transitional knowledge in engineering, technology and related disciplines.
Bound State Solution to Schrodinger Equation with Hulthen Plus Exponential Co...ijrap
In this work, we obtained an approximate bound state solution to Schrodinger with Hulthen plus
exponential Coulombic potential with centrifugal potential barrier using parametric Nikiforov-Uvarov
method. We obtained both the eigen energy and the wave functions to non -relativistic wave equations. We
implement Matlab algorithm to obtained the numerical bound state energies for various values of
adjustable screening parameter at various quantum state.. The developed potential reduces to Hulthen
potential and the numerical bound state energy conform to that of existing literature.
Flip bifurcation and chaos control in discrete-time Prey-predator model irjes
The dynamics of discrete-time prey-predator model are investigated. The result indicates that the
model undergo a flip bifurcation which found by using center manifold theorem and bifurcation theory.
Numerical simulation not only illustrate our results, but also exhibit the complex dynamic behavior, such as the
periodic doubling in period-2, -4 -8, quasi- periodic orbits and chaotic set. Finally, the feedback control method
is used to stabilize chaotic orbits at an unstable interior point.
ADAPTIVESYNCHRONIZER DESIGN FOR THE HYBRID SYNCHRONIZATION OF HYPERCHAOTIC ZH...ijitcs
This paper derives new adaptive synchronizers for the hybrid synchronization of hyperchaotic Zheng
systems (2010) and hyperchaotic Yu systems (2012). In the hybrid synchronization design of master and
slave systems, one part of the systems, viz. their odd states, are completely synchronized (CS), while the
other part, viz. their even states, are completely anti-synchronized (AS) so that CS and AS co-exist in the
process of synchronization. The research problem gets even more complicated, when the parameters of the
hyperchaotic systems are not known and we handle this complicate problem using adaptive control. The
main results of this research work are established via adaptive control theory andLyapunov stability
theory. MATLAB plotsusing classical fourth-order Runge-Kutta method have been depictedfor the new
adaptive hybrid synchronization results for the hyperchaotic Zheng and hyperchaotic Yu systems.
ACTIVE CONTROLLER DESIGN FOR THE HYBRID SYNCHRONIZATION OF HYPERCHAOTIC ZHEN...ijscai
This paper deals with a new research problem in the chaos literature, viz. hybrid synchronization of a
pair of chaotic systems called the master and slave systems. In the hybrid synchronization design of
master and slave systems, one part of the systems, viz. their odd states, are completely synchronized (CS),
while the other part, viz. their even states, are completely anti-synchronized (AS) so that CS and AS coexist in the process of synchronization. This research work deals with the hybrid synchronization of
hyperchaotic Zheng systems (2010) and hyperchaotic Yu systems (2012). The main results of this hybrid
synchronization research work have been proved using Lyapunov stability theory. Numerical examples of
the hybrid synchronization results are shown along with MATLAB simulations for the hyperchaotic
Zheng and hyperchaotic Yu systems.
We present a class of continuous, bounded, finite-time stabilizing controllers for the tranlational and double integrator based on Bhat and Bernstein's work of IEEE Transactions on Automatic Control, Vol. 43, No. 5, May 1998
In this paper, we established the condition of the occurrence of local bifurcation (such as saddlenode,
transcritical and pitchfork)with particular emphasis on the hopf bifurcation near of the positive
equilibrium point of ecological mathematical model consisting of prey-predator model involving prey refuge
with two different function response are established. After the study and analysis, of the observed incidence
transcritical bifurcation near equilibrium point 퐸0
,퐸1
,퐸2 as well as the occurrence of saddle-node bifurcation
at equilibrium point 퐸3
.It is worth mentioning, there are no possibility occurrence of the pitch fork bifurcation
at each point. Finally, some numerical simulation are used to illustration the occurrence of local bifurcation o
this model.
Bound- State Solution of Schrodinger Equation with Hulthen Plus Generalized E...ijrap
We apply an approximation to centrifugal term to find bound state solutions to Schrodinger equation with
Hulthen Plus generalized exponential Coulomb potential Using Nikiforov-Uvarov Method. Using this
method, we obtained the energy-eigen value and the total wave function. We implement C++ algorithm, to
obtained the numerical values of the energy for different quantum state starting from the first excited state
for different values of the screening parameter.
In this paper we consider the initial-boundary value problem for a nonlinear equation induced with respect to the mathematical models in mass production process with the one sided spring boundary condition by boundary feedback control. We establish the asymptotic behavior of solutions to this problem in time, and give an example and simulation to illustrate our results. Results of this paper are able to apply industrial parts such as a typical model widely used to represent threads, wires, magnetic tapes, belts, band saws, and so on.
A Novel Method for Prevention of Bandwidth Distributed Denial of Service AttacksIJERD Editor
Distributed Denial of Service (DDoS) Attacks became a massive threat to the Internet. Traditional
Architecture of internet is vulnerable to the attacks like DDoS. Attacker primarily acquire his army of Zombies,
then that army will be instructed by the Attacker that when to start an attack and on whom the attack should be
done. In this paper, different techniques which are used to perform DDoS Attacks, Tools that were used to
perform Attacks and Countermeasures in order to detect the attackers and eliminate the Bandwidth Distributed
Denial of Service attacks (B-DDoS) are reviewed. DDoS Attacks were done by using various Flooding
techniques which are used in DDoS attack.
The main purpose of this paper is to design an architecture which can reduce the Bandwidth
Distributed Denial of service Attack and make the victim site or server available for the normal users by
eliminating the zombie machines. Our Primary focus of this paper is to dispute how normal machines are
turning into zombies (Bots), how attack is been initiated, DDoS attack procedure and how an organization can
save their server from being a DDoS victim. In order to present this we implemented a simulated environment
with Cisco switches, Routers, Firewall, some virtual machines and some Attack tools to display a real DDoS
attack. By using Time scheduling, Resource Limiting, System log, Access Control List and some Modular
policy Framework we stopped the attack and identified the Attacker (Bot) machines
Hearing loss is one of the most common human impairments. It is estimated that by year 2015 more
than 700 million people will suffer mild deafness. Most can be helped by hearing aid devices depending on the
severity of their hearing loss. This paper describes the implementation and characterization details of a dual
channel transmitter front end (TFE) for digital hearing aid (DHA) applications that use novel micro
electromechanical- systems (MEMS) audio transducers and ultra-low power-scalable analog-to-digital
converters (ADCs), which enable a very-low form factor, energy-efficient implementation for next-generation
DHA. The contribution of the design is the implementation of the dual channel MEMS microphones and powerscalable
ADC system.
Influence of tensile behaviour of slab on the structural Behaviour of shear c...IJERD Editor
-A composite beam is composed of a steel beam and a slab connected by means of shear connectors
like studs installed on the top flange of the steel beam to form a structure behaving monolithically. This study
analyzes the effects of the tensile behavior of the slab on the structural behavior of the shear connection like slip
stiffness and maximum shear force in composite beams subjected to hogging moment. The results show that the
shear studs located in the crack-concentration zones due to large hogging moments sustain significantly smaller
shear force and slip stiffness than the other zones. Moreover, the reduction of the slip stiffness in the shear
connection appears also to be closely related to the change in the tensile strain of rebar according to the increase
of the load. Further experimental and analytical studies shall be conducted considering variables such as the
reinforcement ratio and the arrangement of shear connectors to achieve efficient design of the shear connection
in composite beams subjected to hogging moment.
Gold prospecting using Remote Sensing ‘A case study of Sudan’IJERD Editor
Gold has been extracted from northeast Africa for more than 5000 years, and this may be the first
place where the metal was extracted. The Arabian-Nubian Shield (ANS) is an exposure of Precambrian
crystalline rocks on the flanks of the Red Sea. The crystalline rocks are mostly Neoproterozoic in age. ANS
includes the nations of Israel, Jordan. Egypt, Saudi Arabia, Sudan, Eritrea, Ethiopia, Yemen, and Somalia.
Arabian Nubian Shield Consists of juvenile continental crest that formed between 900 550 Ma, when intra
oceanic arc welded together along ophiolite decorated arc. Primary Au mineralization probably developed in
association with the growth of intra oceanic arc and evolution of back arc. Multiple episodes of deformation
have obscured the primary metallogenic setting, but at least some of the deposits preserve evidence that they
originate as sea floor massive sulphide deposits.
The Red Sea Hills Region is a vast span of rugged, harsh and inhospitable sector of the Earth with
inimical moon-like terrain, nevertheless since ancient times it is famed to be an abode of gold and was a major
source of wealth for the Pharaohs of ancient Egypt. The Pharaohs old workings have been periodically
rediscovered through time. Recent endeavours by the Geological Research Authority of Sudan led to the
discovery of a score of occurrences with gold and massive sulphide mineralizations. In the nineties of the
previous century the Geological Research Authority of Sudan (GRAS) in cooperation with BRGM utilized
satellite data of Landsat TM using spectral ratio technique to map possible mineralized zones in the Red Sea
Hills of Sudan. The outcome of the study mapped a gossan type gold mineralization. Band ratio technique was
applied to Arbaat area and a signature of alteration zone was detected. The alteration zones are commonly
associated with mineralization. The alteration zones are commonly associated with mineralization. A filed check
confirmed the existence of stock work of gold bearing quartz in the alteration zone. Another type of gold
mineralization that was discovered using remote sensing is the gold associated with metachert in the Atmur
Desert.
Reducing Corrosion Rate by Welding DesignIJERD Editor
The paper addresses the importance of welding design to prevent corrosion at steel. Welding is
used to join pipe, profiles at bridges, spindle, and a lot more part of engineering construction. The
problems happened associated with welding are common issues in these fields, especially corrosion.
Corrosion can be reduced with many methods, they are painting, controlling humidity, and also good
welding design. In the research, it can be found that reducing residual stress on the welding can be
solved in corrosion rate reduction problem.
Preheating on 500oC and 600oC give better condition to reduce corosion rate than condition after
preheating 400oC. For all welding groove type, material with 500oC and 600oC preheating after 14 days
corrosion test is 0,5%-0,69% lost. Material with 400oC preheating after 14 days corrosion test is 0,57%-0,76%
lost.
Welding groove also influence corrosion rate. X and V type welding groove give better condition to reduce
corrosion rate than use 1/2V and 1/2 X welding groove. After 14 days corrosion test, the samples with
X welding groove type is 0,5%-0,57% lost. The samples with V welding groove after 14 days corrosion test is
0,51%-0,59% lost. The samples with 1/2V and 1/2X welding groove after 14 days corrosion test is 0,58%-
0,71% lost.
Router 1X3 – RTL Design and VerificationIJERD Editor
Routing is the process of moving a packet of data from source to destination and enables messages
to pass from one computer to another and eventually reach the target machine. A router is a networking device
that forwards data packets between computer networks. It is connected to two or more data lines from different
networks (as opposed to a network switch, which connects data lines from one single network). This paper,
mainly emphasizes upon the study of router device, it‟s top level architecture, and how various sub-modules of
router i.e. Register, FIFO, FSM and Synchronizer are synthesized, and simulated and finally connected to its top
module.
Active Power Exchange in Distributed Power-Flow Controller (DPFC) At Third Ha...IJERD Editor
This paper presents a component within the flexible ac-transmission system (FACTS) family, called
distributed power-flow controller (DPFC). The DPFC is derived from the unified power-flow controller (UPFC)
with an eliminated common dc link. The DPFC has the same control capabilities as the UPFC, which comprise
the adjustment of the line impedance, the transmission angle, and the bus voltage. The active power exchange
between the shunt and series converters, which is through the common dc link in the UPFC, is now through the
transmission lines at the third-harmonic frequency. DPFC multiple small-size single-phase converters which
reduces the cost of equipment, no voltage isolation between phases, increases redundancy and there by
reliability increases. The principle and analysis of the DPFC are presented in this paper and the corresponding
simulation results that are carried out on a scaled prototype are also shown.
Mitigation of Voltage Sag/Swell with Fuzzy Control Reduced Rating DVRIJERD Editor
Power quality has been an issue that is becoming increasingly pivotal in industrial electricity
consumers point of view in recent times. Modern industries employ Sensitive power electronic equipments,
control devices and non-linear loads as part of automated processes to increase energy efficiency and
productivity. Voltage disturbances are the most common power quality problem due to this the use of a large
numbers of sophisticated and sensitive electronic equipment in industrial systems is increased. This paper
discusses the design and simulation of dynamic voltage restorer for improvement of power quality and
reduce the harmonics distortion of sensitive loads. Power quality problem is occurring at non-standard
voltage, current and frequency. Electronic devices are very sensitive loads. In power system voltage sag,
swell, flicker and harmonics are some of the problem to the sensitive load. The compensation capability
of a DVR depends primarily on the maximum voltage injection ability and the amount of stored
energy available within the restorer. This device is connected in series with the distribution feeder at
medium voltage. A fuzzy logic control is used to produce the gate pulses for control circuit of DVR and the
circuit is simulated by using MATLAB/SIMULINK software.
Study on the Fused Deposition Modelling In Additive ManufacturingIJERD Editor
Additive manufacturing process, also popularly known as 3-D printing, is a process where a product
is created in a succession of layers. It is based on a novel materials incremental manufacturing philosophy.
Unlike conventional manufacturing processes where material is removed from a given work price to derive the
final shape of a product, 3-D printing develops the product from scratch thus obviating the necessity to cut away
materials. This prevents wastage of raw materials. Commonly used raw materials for the process are ABS
plastic, PLA and nylon. Recently the use of gold, bronze and wood has also been implemented. The complexity
factor of this process is 0% as in any object of any shape and size can be manufactured.
Spyware triggering system by particular string valueIJERD Editor
This computer programme can be used for good and bad purpose in hacking or in any general
purpose. We can say it is next step for hacking techniques such as keylogger and spyware. Once in this system if
user or hacker store particular string as a input after that software continually compare typing activity of user
with that stored string and if it is match then launch spyware programme.
A Blind Steganalysis on JPEG Gray Level Image Based on Statistical Features a...IJERD Editor
This paper presents a blind steganalysis technique to effectively attack the JPEG steganographic
schemes i.e. Jsteg, F5, Outguess and DWT Based. The proposed method exploits the correlations between
block-DCTcoefficients from intra-block and inter-block relation and the statistical moments of characteristic
functions of the test image is selected as features. The features are extracted from the BDCT JPEG 2-array.
Support Vector Machine with cross-validation is implemented for the classification.The proposed scheme gives
improved outcome in attacking.
Secure Image Transmission for Cloud Storage System Using Hybrid SchemeIJERD Editor
- Data over the cloud is transferred or transmitted between servers and users. Privacy of that
data is very important as it belongs to personal information. If data get hacked by the hacker, can be
used to defame a person’s social data. Sometimes delay are held during data transmission. i.e. Mobile
communication, bandwidth is low. Hence compression algorithms are proposed for fast and efficient
transmission, encryption is used for security purposes and blurring is used by providing additional
layers of security. These algorithms are hybridized for having a robust and efficient security and
transmission over cloud storage system.
Application of Buckley-Leverett Equation in Modeling the Radius of Invasion i...IJERD Editor
A thorough review of existing literature indicates that the Buckley-Leverett equation only analyzes
waterflood practices directly without any adjustments on real reservoir scenarios. By doing so, quite a number
of errors are introduced into these analyses. Also, for most waterflood scenarios, a radial investigation is more
appropriate than a simplified linear system. This study investigates the adoption of the Buckley-Leverett
equation to estimate the radius invasion of the displacing fluid during waterflooding. The model is also adopted
for a Microbial flood and a comparative analysis is conducted for both waterflooding and microbial flooding.
Results shown from the analysis doesn’t only records a success in determining the radial distance of the leading
edge of water during the flooding process, but also gives a clearer understanding of the applicability of
microbes to enhance oil production through in-situ production of bio-products like bio surfactans, biogenic
gases, bio acids etc.
Gesture Gaming on the World Wide Web Using an Ordinary Web CameraIJERD Editor
- Gesture gaming is a method by which users having a laptop/pc/x-box play games using natural or
bodily gestures. This paper presents a way of playing free flash games on the internet using an ordinary webcam
with the help of open source technologies. Emphasis in human activity recognition is given on the pose
estimation and the consistency in the pose of the player. These are estimated with the help of an ordinary web
camera having different resolutions from VGA to 20mps. Our work involved giving a 10 second documentary to
the user on how to play a particular game using gestures and what are the various kinds of gestures that can be
performed in front of the system. The initial inputs of the RGB values for the gesture component is obtained by
instructing the user to place his component in a red box in about 10 seconds after the short documentary before
the game is finished. Later the system opens the concerned game on the internet on popular flash game sites like
miniclip, games arcade, GameStop etc and loads the game clicking at various places and brings the state to a
place where the user is to perform only gestures to start playing the game. At any point of time the user can call
off the game by hitting the esc key and the program will release all of the controls and return to the desktop. It
was noted that the results obtained using an ordinary webcam matched that of the Kinect and the users could
relive the gaming experience of the free flash games on the net. Therefore effective in game advertising could
also be achieved thus resulting in a disruptive growth to the advertising firms.
Hardware Analysis of Resonant Frequency Converter Using Isolated Circuits And...IJERD Editor
-LLC resonant frequency converter is basically a combo of series as well as parallel resonant ckt. For
LCC resonant converter it is associated with a disadvantage that, though it has two resonant frequencies, the
lower resonant frequency is in ZCS region[5]. For this application, we are not able to design the converter
working at this resonant frequency. LLC resonant converter existed for a very long time but because of
unknown characteristic of this converter it was used as a series resonant converter with basically a passive
(resistive) load. . Here, it was designed to operate in switching frequency higher than resonant frequency of the
series resonant tank of Lr and Cr converter acts very similar to Series Resonant Converter. The benefit of LLC
resonant converter is narrow switching frequency range with light load[6] . Basically, the control ckt plays a
very imp. role and hence 555 Timer used here provides a perfect square wave as the control ckt provides no
slew rate which makes the square wave really strong and impenetrable. The dead band circuit provides the
exclusive dead band in micro seconds so as to avoid the simultaneous firing of two pairs of IGBT’s where one
pair switches off and the other on for a slightest period of time. Hence, the isolator ckt here is associated with
each and every ckt used because it acts as a driver and an isolation to each of the IGBT is provided with one
exclusive transformer supply[3]. The IGBT’s are fired using the appropriate signal using the previous boards
and hence at last a high frequency rectifier ckt with a filtering capacitor is used to get an exact dc
waveform .The basic goal of this particular analysis is to observe the wave forms and characteristics of
converters with differently positioned passive elements in the form of tank circuits.
Simulated Analysis of Resonant Frequency Converter Using Different Tank Circu...IJERD Editor
LLC resonant frequency converter is basically a combo of series as well as parallel resonant ckt. For
LCC resonant converter it is associated with a disadvantage that, though it has two resonant frequencies, the
lower resonant frequency is in ZCS region [5]. For this application, we are not able to design the converter
working at this resonant frequency. LLC resonant converter existed for a very long time but because of
unknown characteristic of this converter it was used as a series resonant converter with basically a passive
(resistive) load. . Here, it was designed to operate in switching frequency higher than resonant frequency of the
series resonant tank of Lr and Cr converter acts very similar to Series Resonant Converter. The benefit of LLC
resonant converter is narrow switching frequency range with light load[6] . Basically, the control ckt plays a
very imp. role and hence 555 Timer used here provides a perfect square wave as the control ckt provides no
slew rate which makes the square wave really strong and impenetrable. The dead band circuit provides the
exclusive dead band in micro seconds so as to avoid the simultaneous firing of two pairs of IGBT’s where one
pair switches off and the other on for a slightest period of time. Hence, the isolator ckt here is associated with
each and every ckt used because it acts as a driver and an isolation to each of the IGBT is provided with one
exclusive transformer supply[3]. The IGBT’s are fired using the appropriate signal using the previous boards
and hence at last a high frequency rectifier ckt with a filtering capacitor is used to get an exact dc
waveform .The basic goal of this particular analysis is to observe the wave forms and characteristics of
converters with differently positioned passive elements in the form of tank circuits. The supported simulation
is done through PSIM 6.0 software tool
Amateurs Radio operator, also known as HAM communicates with other HAMs through Radio
waves. Wireless communication in which Moon is used as natural satellite is called Moon-bounce or EME
(Earth -Moon-Earth) technique. Long distance communication (DXing) using Very High Frequency (VHF)
operated amateur HAM radio was difficult. Even with the modest setup having good transceiver, power
amplifier and high gain antenna with high directivity, VHF DXing is possible. Generally 2X11 YAGI antenna
along with rotor to set horizontal and vertical angle is used. Moon tracking software gives exact location,
visibility of Moon at both the stations and other vital data to acquire real time position of moon.
“MS-Extractor: An Innovative Approach to Extract Microsatellites on „Y‟ Chrom...IJERD Editor
Simple Sequence Repeats (SSR), also known as Microsatellites, have been extensively used as
molecular markers due to their abundance and high degree of polymorphism. The nucleotide sequences of
polymorphic forms of the same gene should be 99.9% identical. So, Microsatellites extraction from the Gene is
crucial. However, Microsatellites repeat count is compared, if they differ largely, he has some disorder. The Y
chromosome likely contains 50 to 60 genes that provide instructions for making proteins. Because only males
have the Y chromosome, the genes on this chromosome tend to be involved in male sex determination and
development. Several Microsatellite Extractors exist and they fail to extract microsatellites on large data sets of
giga bytes and tera bytes in size. The proposed tool “MS-Extractor: An Innovative Approach to extract
Microsatellites on „Y‟ Chromosome” can extract both Perfect as well as Imperfect Microsatellites from large
data sets of human genome „Y‟. The proposed system uses string matching with sliding window approach to
locate Microsatellites and extracts them.
Importance of Measurements in Smart GridIJERD Editor
- The need to get reliable supply, independence from fossil fuels, and capability to provide clean
energy at a fixed and lower cost, the existing power grid structure is transforming into Smart Grid. The
development of a smart energy distribution grid is a current goal of many nations. A Smart Grid should have
new capabilities such as self-healing, high reliability, energy management, and real-time pricing. This new era
of smart future grid will lead to major changes in existing technologies at generation, transmission and
distribution levels. The incorporation of renewable energy resources and distribution generators in the existing
grid will increase the complexity, optimization problems and instability of the system. This will lead to a
paradigm shift in the instrumentation and control requirements for Smart Grids for high quality, stable and
reliable electricity supply of power. The monitoring of the grid system state and stability relies on the
availability of reliable measurement of data. In this paper the measurement areas that highlight new
measurement challenges, development of the Smart Meters and the critical parameters of electric energy to be
monitored for improving the reliability of power systems has been discussed.
Study of Macro level Properties of SCC using GGBS and Lime stone powderIJERD Editor
One of the major environmental concerns is the disposal of the waste materials and utilization of
industrial by products. Lime stone quarries will produce millions of tons waste dust powder every year. Having
considerable high degree of fineness in comparision to cement this material may be utilized as a partial
replacement to cement. For this purpose an experiment is conducted to investigate the possibility of using lime
stone powder in the production of SCC with combined use GGBS and how it affects the fresh and mechanical
properties of SCC. First SCC is made by replacing cement with GGBS in percentages like 10, 20, 30, 40, 50 and
by taking the optimum mix with GGBS lime stone powder is blended to mix in percentages like 5, 10, 15, 20 as
a partial replacement to cement. Test results shows that the SCC mix with combination of 30% GGBS and 15%
limestone powder gives maximum compressive strength and fresh properties are also in the limits prescribed by
the EFNARC.
Enchancing adoption of Open Source Libraries. A case study on Albumentations.AIVladimir Iglovikov, Ph.D.
Presented by Vladimir Iglovikov:
- https://www.linkedin.com/in/iglovikov/
- https://x.com/viglovikov
- https://www.instagram.com/ternaus/
This presentation delves into the journey of Albumentations.ai, a highly successful open-source library for data augmentation.
Created out of a necessity for superior performance in Kaggle competitions, Albumentations has grown to become a widely used tool among data scientists and machine learning practitioners.
This case study covers various aspects, including:
People: The contributors and community that have supported Albumentations.
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Challenges: The hurdles in monetizing open-source projects and measuring user engagement.
Development Practices: Best practices for creating, maintaining, and scaling open-source libraries, including code hygiene, CI/CD, and fast iteration.
Community Building: Strategies for making adoption easy, iterating quickly, and fostering a vibrant, engaged community.
Marketing: Both online and offline marketing tactics, focusing on real, impactful interactions and collaborations.
Mental Health: Maintaining balance and not feeling pressured by user demands.
Key insights include the importance of automation, making the adoption process seamless, and leveraging offline interactions for marketing. The presentation also emphasizes the need for continuous small improvements and building a friendly, inclusive community that contributes to the project's growth.
Vladimir Iglovikov brings his extensive experience as a Kaggle Grandmaster, ex-Staff ML Engineer at Lyft, sharing valuable lessons and practical advice for anyone looking to enhance the adoption of their open-source projects.
Explore more about Albumentations and join the community at:
GitHub: https://github.com/albumentations-team/albumentations
Website: https://albumentations.ai/
LinkedIn: https://www.linkedin.com/company/100504475
Twitter: https://x.com/albumentations
GraphSummit Singapore | The Art of the Possible with Graph - Q2 2024Neo4j
Neha Bajwa, Vice President of Product Marketing, Neo4j
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Get an inside look at the latest Neo4j innovations that enable relationship-driven intelligence at scale. Learn more about the newest cloud integrations and product enhancements that make Neo4j an essential choice for developers building apps with interconnected data and generative AI.
Dr. Sean Tan, Head of Data Science, Changi Airport Group
Discover how Changi Airport Group (CAG) leverages graph technologies and generative AI to revolutionize their search capabilities. This session delves into the unique search needs of CAG’s diverse passengers and customers, showcasing how graph data structures enhance the accuracy and relevance of AI-generated search results, mitigating the risk of “hallucinations” and improving the overall customer journey.
Why You Should Replace Windows 11 with Nitrux Linux 3.5.0 for enhanced perfor...SOFTTECHHUB
The choice of an operating system plays a pivotal role in shaping our computing experience. For decades, Microsoft's Windows has dominated the market, offering a familiar and widely adopted platform for personal and professional use. However, as technological advancements continue to push the boundaries of innovation, alternative operating systems have emerged, challenging the status quo and offering users a fresh perspective on computing.
One such alternative that has garnered significant attention and acclaim is Nitrux Linux 3.5.0, a sleek, powerful, and user-friendly Linux distribution that promises to redefine the way we interact with our devices. With its focus on performance, security, and customization, Nitrux Linux presents a compelling case for those seeking to break free from the constraints of proprietary software and embrace the freedom and flexibility of open-source computing.
Pushing the limits of ePRTC: 100ns holdover for 100 daysAdtran
At WSTS 2024, Alon Stern explored the topic of parametric holdover and explained how recent research findings can be implemented in real-world PNT networks to achieve 100 nanoseconds of accuracy for up to 100 days.
Essentials of Automations: The Art of Triggers and Actions in FMESafe Software
In this second installment of our Essentials of Automations webinar series, we’ll explore the landscape of triggers and actions, guiding you through the nuances of authoring and adapting workspaces for seamless automations. Gain an understanding of the full spectrum of triggers and actions available in FME, empowering you to enhance your workspaces for efficient automation.
We’ll kick things off by showcasing the most commonly used event-based triggers, introducing you to various automation workflows like manual triggers, schedules, directory watchers, and more. Plus, see how these elements play out in real scenarios.
Whether you’re tweaking your current setup or building from the ground up, this session will arm you with the tools and insights needed to transform your FME usage into a powerhouse of productivity. Join us to discover effective strategies that simplify complex processes, enhancing your productivity and transforming your data management practices with FME. Let’s turn complexity into clarity and make your workspaces work wonders!
GraphSummit Singapore | The Future of Agility: Supercharging Digital Transfor...Neo4j
Leonard Jayamohan, Partner & Generative AI Lead, Deloitte
This keynote will reveal how Deloitte leverages Neo4j’s graph power for groundbreaking digital twin solutions, achieving a staggering 100x performance boost. Discover the essential role knowledge graphs play in successful generative AI implementations. Plus, get an exclusive look at an innovative Neo4j + Generative AI solution Deloitte is developing in-house.
zkStudyClub - Reef: Fast Succinct Non-Interactive Zero-Knowledge Regex ProofsAlex Pruden
This paper presents Reef, a system for generating publicly verifiable succinct non-interactive zero-knowledge proofs that a committed document matches or does not match a regular expression. We describe applications such as proving the strength of passwords, the provenance of email despite redactions, the validity of oblivious DNS queries, and the existence of mutations in DNA. Reef supports the Perl Compatible Regular Expression syntax, including wildcards, alternation, ranges, capture groups, Kleene star, negations, and lookarounds. Reef introduces a new type of automata, Skipping Alternating Finite Automata (SAFA), that skips irrelevant parts of a document when producing proofs without undermining soundness, and instantiates SAFA with a lookup argument. Our experimental evaluation confirms that Reef can generate proofs for documents with 32M characters; the proofs are small and cheap to verify (under a second).
Paper: https://eprint.iacr.org/2023/1886
UiPath Test Automation using UiPath Test Suite series, part 6DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 6. In this session, we will cover Test Automation with generative AI and Open AI.
UiPath Test Automation with generative AI and Open AI webinar offers an in-depth exploration of leveraging cutting-edge technologies for test automation within the UiPath platform. Attendees will delve into the integration of generative AI, a test automation solution, with Open AI advanced natural language processing capabilities.
Throughout the session, participants will discover how this synergy empowers testers to automate repetitive tasks, enhance testing accuracy, and expedite the software testing life cycle. Topics covered include the seamless integration process, practical use cases, and the benefits of harnessing AI-driven automation for UiPath testing initiatives. By attending this webinar, testers, and automation professionals can gain valuable insights into harnessing the power of AI to optimize their test automation workflows within the UiPath ecosystem, ultimately driving efficiency and quality in software development processes.
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1. Insights into integrating generative AI.
2. Understanding how this integration enhances test automation within the UiPath platform
3. Practical demonstrations
4. Exploration of real-world use cases illustrating the benefits of AI-driven test automation for UiPath
Topics covered:
What is generative AI
Test Automation with generative AI and Open AI.
UiPath integration with generative AI
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Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
How to Get CNIC Information System with Paksim Ga.pptxdanishmna97
Pakdata Cf is a groundbreaking system designed to streamline and facilitate access to CNIC information. This innovative platform leverages advanced technology to provide users with efficient and secure access to their CNIC details.
Goodbye Windows 11: Make Way for Nitrux Linux 3.5.0!SOFTTECHHUB
As the digital landscape continually evolves, operating systems play a critical role in shaping user experiences and productivity. The launch of Nitrux Linux 3.5.0 marks a significant milestone, offering a robust alternative to traditional systems such as Windows 11. This article delves into the essence of Nitrux Linux 3.5.0, exploring its unique features, advantages, and how it stands as a compelling choice for both casual users and tech enthusiasts.
Goodbye Windows 11: Make Way for Nitrux Linux 3.5.0!
www.ijerd.com
1. International Journal of Engineering Research and Development
ISSN: 2278-067X, Volume 1, Issue 12 (July 2012), PP. 69-74
www.ijerd.com
Comparison of LQR and PD controller for stabilizing Double
Inverted Pendulum System
Narinder Singh1, Sandeep Kumar Yadav2
Department of control and instrumentation Engineering, NIT Jalandhar, Punjab 144011 India
Abstract—this paper presented comparison of the time specification performance between two type of controller for a
Double Inverted Pendulum system. Double Inverted Pendulum is a non-linear ,unstable and fast reaction system. DIP is
stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting
force should be zero. The objective is to determine the control strategy that to delivers better performance with respect to
pendulum angle’s and cart position. In this paper simple multi PD controller designed on the theory of pole placement
and its performance is compared with Linear Quadratic Regulator controller using MATLAB and Simulink.
Keywords––Double Inverted Pendulum; LQR; PD Controller; pole placement; MATLAB
I. INTRODUCTION
Te inverted pendulum offers a very good example for control engineers to verify a modern control theory. This can
be explained by the facts that inverted pendulum is marginally stable, in control sense, has distinctive time variant
mathematical model. The double inverted pendulum is a highly nonlinear and open-loop unstable system. The inverted
pendulum system usually used to test the effect of the control policy, and it is also an ideal experimental instrument in the
study of control theory [1, 2]. To stabilize a double inverted pendulum is not only a challenging problem but also a useful
way to show the power of the control method (PID controller, neural network, FLC, genetics algorithm, etc.).
In this paper common control approaches such as the linear quadratic controller (LQR) and PD controller based on
a pole placement technique to overcome the problem of this system require a good knowledge of the system and accurate
tuning obtain good performance [3-5]. This paper presents investigations of performance comparison between modern
control and PD control for a double inverted pendulum system. Performance of both controller strategies with respect to
pendulums angle and cart position is examined.
II. MODELING OF DOUBLE INVERTED PENDULUM
To control this system, its dynamic behavior must be analyzed first. The dynamic behavior is the changing rate of
the status and position of the double inverted pendulum proportionate to the force applied. This relationship can be explained
using a series of differential equations called the motion equations ruling over the pendulum response to the applied force.
The double inverted pendulum is shown in Fig 1. The meanings and values of the parameters for inverted pendulum are
given in Table 1. [4]
Fig1: schematic diagram of Double Inverted Pendulum
To derive its equations of motion, one of the possible ways is to use Lagrange equations [6]
𝑑 𝑑𝐿 𝑑𝐿
− = 𝑄𝑖 (1)
𝑑𝑡 𝑑𝑞 𝑖 𝑑𝑞 𝑖
69
2. Comparison of LQR and PD controller for stabilizing Double Inverted Pendulum System
TABLE I : P ARAMETERS OF DOUBLE INVERTED PENDULUM
M(m1,m2,m3) Mass of thecart,( first pole, second pole,
joint)
5.8kg(1.5kg,.5kg,.75kg)
θ1,θ2 The angle between pole 1(2) and vertical
direction (rad)
L1(l1), L2(l2) Length of pendulum first(2l1) and length of
second pendulum (2l2) ,1m,1.5m
g Center of gravity 9.8m/s2
F Force applied to cart
Where L = T - V is a Lagrangian, Q is a vector of generalized forces (or moments) acting in the direction of generalized
coordinates q and not accounted for in formulation of kinetic energy T and potential energy V. Kinetic and potential energies
of the system are given by the sum of energies of cart and pendulums.
1 2 2 1 2
𝑇= 𝑚0 + 𝑚1 + 𝑚2 + 𝑚3 𝑥 2 + 𝑚1 𝑙1 2 + 2𝑚2 𝑙1 2 + 2𝑚3 𝑙1 2 𝜃1 + 𝑚2 𝑙2 2 𝜃2 + 𝑚1 𝑙1 + 2𝑚2 𝑙1 +
2 3 6
2𝑚3 𝑙1 𝑥 𝜃1 𝑐𝑜𝑠 𝜃1 + 𝑚2 𝑙2 𝑥 𝜃2 𝑐𝑜𝑠𝜃2 + 2𝑚2 𝑙1 𝑙2 𝑐𝑜𝑠 𝜃1 − 𝜃2 𝜃1 𝜃2 (2)
𝑉 = 𝑚1 𝑔𝑙1 cos𝜃1 + 2𝑚3 𝑔𝑙1 cos𝜃1 + 𝑚2 𝑔(2𝑙1 cos𝜃1 + 𝑙2 cos𝜃2 ) (3)
Thus the Lagrangianof the system is given
1 2 2 1 2
𝐿= 𝑚0 + 𝑚1 + 𝑚2 + 𝑚3 𝑥 2 + 𝑚1 𝑙1 2 + 2𝑚2 𝑙1 2 + 2𝑚3 𝑙1 2 𝜃1 + 𝑚2 𝑙2 2 𝜃2 + 𝑚1 𝑙1 + 2𝑚2 𝑙1 +
2 3 6
2𝑚3 𝑙1 𝑥 𝜃1 𝑐𝑜𝑠 𝜃1 + 𝑚2 𝑙2 𝑥 𝜃2 𝑐𝑜𝑠𝜃2 + 2𝑚2 𝑙1 𝑙2 𝑐𝑜𝑠 𝜃1 − 𝜃2 𝜃1 𝜃2 − 𝑚1 𝑔𝑙1 cos𝜃1 − 2𝑚3 𝑔𝑙1 cos𝜃1 − 𝑚2 𝑔(2𝑙1 cos𝜃1 +
𝑙2 cos𝜃2 ) (4)
Differentiating the Lagrangian by and θ and θ yields Lagrange equation (1) as:
𝑑 𝑑𝐿 𝑑𝐿
− =0 (5)
𝑑𝑡 𝑑𝜃1 𝑑𝜃1
𝑑 𝑑𝐿 𝑑𝐿
− =0 (6)
𝑑𝑡 𝑑𝜃2 𝑑𝜃2
Or explicitly:
4 2
𝑚 𝑙 2 + 4𝑚2 𝑙1 2 + 4𝑚3 𝑙1 2 𝜃1 + 𝑚1 𝑙1 + 2𝑚2 𝑙1 + 2𝑚3 𝑙1 𝑥 cos𝜃1 + 2𝑚2 𝑙1 𝑙2 𝜃2 𝑐𝑜𝑠 𝜃1 − 𝜃2 + 2𝑚2 𝑙1 𝑙2 𝜃2 𝑠𝑖𝑛 𝜃1 −
3 1 1
𝜃2 − 𝑚1 𝑙1 + 2𝑚2 𝑙1 + 2𝑚3 𝑙1 𝑔 sin𝜃1 = 0 (7)
1 2
𝑚2 𝑙2 𝑥 𝑐𝑜𝑠𝜃2 + 2𝑚2 𝑙1 𝑙2 𝜃1 𝑐𝑜𝑠 𝜃1 − 𝜃2 + 3 𝑚2 𝑙2 2 𝜃2 − 2𝑚2 𝑙1 𝑙2 𝜃1 𝑠𝑖𝑛 𝜃1 − 𝜃2 − 𝑚2 𝑙2 𝑔 sin𝜃2 = 0 (8)
Lagrange equation for the DICP system can be written in a more compact matrix form:
D(θ) 𝜃+C(θ,𝜃) 𝜃 + G(θ) = Hu (9)
The stationary point of the system is (𝑥, 𝜃1 , 𝜃2 , 𝑥, 𝜃1 , 𝜃2, 𝑥) = (0, 0, 0, 0, 0, 0, 0), introduce small deviation around a stationary
point and Taylor series expansion; the stable control process of the Double Inverted Pendulums are usually cos(θ 1 – θ2)=1,
sin (θ1 – θ2), cos(θ1)≅cos(θ2)≅1, sin(θ1)≅θ1, sinθ2≅ θ2 . Linearization is made at balance position; we can get the linear time
invariant state space model [7].
𝑥 0 0 0 0 0 0 𝑥 0
𝜃1 0 0 0 0 0 0 𝜃1 0
𝜃2 0 0 0 0 0 0 𝜃2 0
= + 𝑢(𝑡)
𝑥 0 0 0 0 0 0 𝑥 1
𝜃1 0 14.2545 −4.0090 0 0 0 𝜃1 1.1818
𝜃2 0 −14.2545 21.1077 0 0 0 𝜃2 0.1818
100000 𝑥 0
𝑦 𝑡 = 0 1 0 0 0 0 𝜃1 + 0 𝑢(𝑡) (10)
0 0 1 0 0 0 𝜃2 0
III. ANALYSIS OF DOUBLE INVERTED PENDULUM
After obtaining the mathematical model of the system features, we need to analyze the stability; controllability and
Observability of systems in order to further understand the characteristics of the system [8].
A. Stability
If the closed-loop poles are all located in the left half of “s” plane, the system must be stable, otherwise the system
is unstable. In MATLAB, to strike a linear time-invariant system, the characteristic roots can be obtain by eig (a,b) function.
According to the sufficient and necessary conditions for stability of the system, we can see the inverted pendulum system is
unstable
B. Controllability
A system is said to be controllable if any initial state x(t 0 ) or x0 can be transfer to any final state x( tf) in a finite
time interval (tf - t0), t ≥ 0 by some control u.
The test of controllability due to Kalman if system is completely controllable if and only if the rank of the composite matrix
Qc is n.
70
3. Comparison of LQR and PD controller for stabilizing Double Inverted Pendulum System
Qc = [B AB … … … … An-1B] (10)
C. Observability
A system is said to be observable if every state x 0 can be exactly determined from the measurement of the output „y‟ over
a finite interval of time 0 ≤ t ≥ t f.
The test of controllability due to Kalman if system is completely observable if and only if the rank of composite matrix is
n where
Oc = [CT AT CT (AT )2CT…………….(AT)n-1 CT] (11)
IV. DESIGN OF LINEAR QUADRATIC REGULATOR
This leads to the Linear Quadratic Regulator (LQR) system dealing with state regulation, output regulation, and tracking.
Broadly speaking, we are interested in the design of optimal linear systems with quadratic performance indices [9].
We shall now consider the optimal regulator problem that, given the system equation.
𝑥(𝑡) = A x(t) + Bu(t)
Y(t) = C x(t) + D u(t) (12)
Determine the matrix K of the optimal control vector.
𝑢 𝑡 = −𝐾𝑥 𝑡 (13)
So as to minimize the performance index
∞
J = 0 (𝑥 𝑇 𝑡 𝑄𝑥 𝑡 + 𝑢 𝑇 𝑡 𝑅𝑢 𝑡 )𝑑𝑡 (14)
Where Q is a positive-semi definite and R is a positive-definite matrix. The matrices Q and R determine the relative
importance of the error. Here the elements of the matrix K are determined so as to minimize the performance index.
Then 𝑢 𝑡 = −𝐾𝑥 𝑡 = −𝑅−1 𝐵 𝑇 𝑃𝑥(𝑡) is optimal for any initial x(0) state.
Fig 2: Full state feedback representation of DIP
Where P (t) is the solution of Riccati equation, K is the linear optimal feedback matrix. Now we only need to solve the
Riccati equation.
𝐴 𝑇 𝑃 + 𝑃𝐴 − 𝑃𝐵𝑅−1 𝐵 𝑇 𝑃 + 𝑄 = 0 (15)
Where Q and R chose as Q = diag ([10 60 80 0 0 0]) and R = 1.
Therefore,
K= −𝑅−1 𝐵 𝑇 𝑃 = [10 275.2453 -515.6502 16.2044 22.1046 -111.9285]
V. DESIGN OF PD CONTROLLER
A Proportional-Derivative (PD) controller is a control loop feedback mechanism used in process control type
industrial. A PD controller calculates an “error” value as the difference between a measured process variable and a desired
set point. The controller attempts to minimize the error by adjusting the process input. PD controller calculation involves two
parameters values proportional (P) and derivative (D). Proportional values is determines the reaction to the current error,
derivative values determines the reaction rate at which the error has been changing [5~10].
Fig3: Block diagram of DIP PD controller
71
4. Comparison of LQR and PD controller for stabilizing Double Inverted Pendulum System
PD controller is combination of proportional plus derivative controller. It consists to a single input three output of
a double inverted pendulum system. This is the case of stabilization of a double inverted pendulum at is x = 𝜃1 = 𝜃2 = 0,
which is a physical unbalance position. So integral action will result in instability condition of control system and a simple
PD controller is more adaptive. Then we have used a three (multi) PD controller.
The transfer function of PD controller is (Kp + KdS) i.e. PD1, PD2, and PD3 transfer functions are respectively (K1 +K2S),
(K3 +K4S) and (K5 +K6S).
Fig4: The structure of DIP PD controller
We now use a pole placement technique of state feedback control system to determine the 6 PD control parameter.
When assume that desired closed pole are -2.1±2.1425j, -5, -5, -5, -5. We can obtain the parameter of PD controller by using
the MATLAB i.e.
K1=131.4941, K2=-23.4289, K3=-549.4167
K4=-124.6183, K5=23.0785, K6=29.2327
VI. SIMULATION AND RESULT
The system under consideration and the proposed controllers are modeled and simulated in the
MATLAB/Simulink environment. The step response performance of the two controllers is compared fig.5 shows the step
response of the system under consideration in absence of a controller and is found to be unstable.
Fig5: Step response of Double Inverted Pendulum without controller
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5. Comparison of LQR and PD controller for stabilizing Double Inverted Pendulum System
Fig6: Step response of Pendulum angles and cart position by using LQR controller.
Fig7. Step response of cart position by using PD controller
Fig8: The response of first pendulum angle by PD controller
Fig9: The response of second pendulum angle by PD controller
The time response specification for the system under consideration equipped with the proposed controllers are
given in Tables 2, 3 and 4.
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6. Comparison of LQR and PD controller for stabilizing Double Inverted Pendulum System
TABLE 2
Time response LQR PD
specification controller controller
Settling time 3.05 s 3s
(Ts)
Rise time (Tr) 0.51s .15s
Peak overshoot 20% 5.8%
steady state 0.02 0.0117
error (ess)
SUMMARY OF THE PERFORMANCE CHARACTERISTICS FOR CART POSITION
TABLE 3
Time response LQR PD
specification controller controller
Settling time 4.68S 2.876S
(Ts)
Rise time (Tr) 0.21S 0.17S
Peak overshoot 1.6% 7.5%
Steady state 0 0
error (ess)
SUMMARY OF THE PERFORMANCE CHARACTERISTICS FOR FIRST PENDULUM‟S ANGLE
TABLE 4
Time response LQR PD
specification controller controller
Settling time (TS) 4.67S 3.08S
Rise time (Tr) 0.907S 0.62S
Peak overshoot 5% 7%
Steady state error 0 0
(ess)
SUMMARY OF THE PERFORMANCE CHARACTERISTICS OF SECOND PENDULUM‟S ANGLE
From both controller LQR and PD controller‟s result, It is clear that both are successfully designed but PD
controller exhibits better response and performance.
VII. CONCLUSION
In this paper, LQR and PD controller are successfully designed for a Double Inverted Pendulum system. Based on
the results, both controllers are capable of controlling the double inverted pendulum‟s angles and the cart position of the
linearized system. However, the simulation result shows that PD controller has a better performance as compared to the LQR
controller in controlling the Double Inverted Pendulum system.
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