Optimal Control of Pendubot System Using SIMATIC S7-1200

Van-Dat Nguyen 1*, Quang-Dong Dang 1, Minh-Tai Vo 2,3, Minh-Duc Tran 2, Anh-Khoa Vo 4, Thanh-Binh Nguyen 5, Phuoc-Tung Tran 5, Huu-Sang Le 5

1 Hung Yen University of Technology and Education (UTEHY)
Dan Tien, Khoai Chau District, Hung Yen Province, 16000, Vietnam
2 Ho Chi Minh city University of Technology (HCMUT), VNU-HCMC
Ly Thuong Kiet St., No. 268, District 10, Ho Chi Minh City, 700000, Vietnam
3 Royal Melbourne Institute of Technology (RMIT)
Nguyen Van Linh Blvd., No. 702, Tan Hung ward, District 7, HCMC, 700000, Vietnam.
4 Robert BOSCH Engineering and Business Solutions (BOSCH), Vietnam
Cong Hoa St., No. 364, Tan Binh District, Ho Chi Minh City, 700000, Vietnam
5 Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan St., No. 01, Thu Duc City, Ho Chi Minh City, 700000, Vietnam

Robotica & Management, Vol. 28, No. 1, pp. 43-52
DOI: https://doi.org/10.24193/rm.2023.1.6

Abstract: : In optimal control, a common problem is developing a control law that can drive a dynamical system from one state to another as quickly as possible. The objective of paper is to design optimal control approach based SIMATIC S7-1200 for under-actuated Pendubot system. The main contribution of this paper is to introduce and validate control method for laboratory model of Pendubot system by using industrial device, namely, Programmable logic controller (PLC). Besides, Lyapunov Analysis is used to analyze the stability of optimal control. The simulation is performed in MATLAB/Simulink environment and experiment is carried out in TIA PORTAL environment. The simulation results and experimental results illustrate that the proposed control method is effective and robust by using PLC.

Keywords: Optimal control, SIMATIC S7-1200, Pendubot, PLC, underactuated system.

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