Balancing Robot Menggunakan Metode Kendali Proporsional Integral Derivatif

Rizka Bimarta(1*), Agfianto Eko Putra(2), Andi Dharmawan(3)

(2) Jurusan Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
(3) Jurusan Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
(*) Corresponding Author


            Center of gravity’s inverted pendulum is located above its pivot point therefore inverted pendulum is unstable. Specific control is needed so that inverted pendulum stable which is by move the cart where the pendulum is mounted. Inverted pendulum application can be found in balancing robot. The purpose of this research is to design a system to control a two wheeled robot using the control system to balance it.

The inputs are accelerometer to measure angular acceleration (m/s2) and gyroskop to measure angular velocity (rad/s). The output’s of accelerometer and gyroscope are fused by complementary filter algorithm method to get the actual angle. The actual angle is then compared to set point which is 0o. The differences between set point and actual angle are processed using Proportional Integral Derivative control method. The process of PID control is programmed using Arduino IDE which its result is fed to DC motors. The direction of DC motors are determined by two conditions, if actual angle less than zero then DC motors will spin backwards. Whereas if actual angle more than zero then DC motors will spin forward.

            The PID control’s constans value based on Ziegler-Nichols Oscillation tuning method are Kp=1.5, Ki=0.75, Kd=1.875 and complementary filter’s coefficient is a=0.96.


inverted pendulum, balancing robot, PID control, IMU, complementary filter

Full Text:



Miller, P., 2008, Building a Two Wheeled Balancing Robot, Disertasi, Faculty of Engineering and Surveying, University of Southern Queensland, Queensland.
[2] Stang, J., 2005, The Inverted Pendulum, Tesis, Teknik, Cornell University, Cornell.
[3] Krakow, K.I., 2005, System-specific PI Control Theory for Fluid and Motion Systems, Universal Publishers, United States.
[4] Hutama, I., 2011. Kendali Pendulum Terbalik Dinamis, Skripsi, Teknik, Universitas Gadjah Mada, Yogyakarta.
[5] Sultan, K., 2003, Inverted Pendulum Analysis Design and Implementation, Tesis, Industrial Electronics, Institute of Industrial Electronics Engineering, Karachi.
[6] Colton, S., 2007. The Balance Filter: A Simple Solution for Integrating Accelerometer and Gyroscope Measurements for a Balancing Platform,, diakses pada 20 Februari 2013.
[7] Wicaksono, E.G., 2012, Balancing Robot Beroda Dua Menggunakan Metode Kendali Proporsional Derivatif, Skripsi, Teknik, Universitas Diponegoro, Semarang.
[8] Ogata, K. 1997. Teknik Kontrol Automatik – terjemahan: Ir. Edi Laksono. Erlangga: Jakarta.
[9] Dorf, R. C., dan H. Bishop, R., 2010, Modern Control System Twelfth Edition, Prenctice Hall International, United Kingdom.


Article Metrics

Abstract views : 2418 | views : 2482


  • There are currently no refbacks.

Copyright (c) 2015 IJEIS - Indonesian Journal of Electronics and Instrumentation Systems

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Copyright of :
IJEIS (Indonesian Journal of Electronics and Instrumentations Systems)
ISSN 2088-3714 (print); ISSN 2460-7681 (online)
is a scientific journal the results of Electronics
and Instrumentations Systems
A publication of IndoCEISS.
Gedung S1 Ruang 416 FMIPA UGM, Sekip Utara, Yogyakarta 55281
Fax: +62274 555133 |

View My Stats1
View My Stats2