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OUTPUT
CONTROLLER
PLANT / PROCESS
ER
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OUTPUT
CONTROLLER
ER
PLANT / PROCESS
ELEMEN
PENGUKUR
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A. Manual Feedback Control / Manual Close-Loop Control System
Blok Diagram : Manual Feedback Control dari sebuah sistem thermal
Blok Diagram :
A. Fungsi Step
F(t) = 0 untuk t < 0
= A untuk t > 0
A
0
A
F(s) = A.e st .dt = e st |
0
s
0
=
=
B. Fungsi Pulse
F(t) = 0 untuk t < 0 & t >T
= A untuk 0 t T
A
(0 1)
s
A
s
A
0
T
= A.e st .dt
0
A st T
.e
|
0
s
A st
= (e
1)
s
A
= (1 e st )
s
=
f(t) =
A
lim
to 0 to
=0
F(s) =
st
A
o)
lim
(1 e
t t 0s
0
d
[A(1 e sto )]
dto
= lim
d
to 0
(tos)
dto
A
= s
s
=A
Fungsi Unit-Impulse : f(t) = (t)
F(s) = 1
D. Fungsi Ramp
F(t) = 0 untuk t < 0
= At untuk t 0
A
0
= A t.e- st .dt
0
e st A.est
= A.t.
|
dt
s 0
s
0
A st
=
.dt
e
s 0
A
=
s2
E. Fungsi Eksponensiil
F(t) = o untuk t < 0
= A e t untuk t 0
t .e st .dt
F(s) = A.e
0
( + s)t
=Ae
.dt
0
A (s + )t
=
e
|
0
s+
A
=
(0 1)
s+
A
=
s+
F. Fungsi Sinus
f(t) = A sin t
e jt e jt
= A.
.e st dt
2j
0
A jt st
jt st
=
.e
e
.e
)dt
(e
2j 0
A (j s)t
(j + s)t
=
e
)dt
(e
2j 0
A
1
1
(j s)t
(j + s)t
= [
e
+
e
]
0
2j j s
j + s
A
1
1
= [
]
2j s j s + j
A s + j s + j
= .
2j
s 2 + 2
= A. 2
s + 2
G. Fungsi Cosinus
f(t) = A cos t
F(s) = A.
s
s + 2
2
st .dt
L [ f ( t - ) ] = f(t )e
0
s(t )
= f(t )e s .e
0
= f(( s d
= e s f(()s d
s
st dt
=e
f(t).e
0
s
=e
.F(s)
t f(t)est .dt
L [ e t .f(t) ] = e
0
(s +)t
= f(t).e
.dt
0
= F(s +)
3. Teorema Diferensiasi
Bila F(s) = L [ f(t) ],
Maka : L [
df(t)
] = sF(s) f(0)
dt
d 2f(t)
] = s2F(s) - sf(0) fI(0)
dt 2
L[
d 3f(t)
] = s3F(s) s2f(0) sfI(0) fii(0)
3
dt
L[
df(t)
]=
dt
Bukti :
df(t)
)e st .dt
(
dt
0
= e st df(t)
0
=e st .f(t) | f(t)dest
0
0
=0 f(0) +s f(t).e st dt
0
= f(0) +sF(s)
4. Teorema Integrasi
f(t)dt
1(0)
] = F(s) + f
s
s
f(t)dt untuk t = 0
f(t)dt
st dt
] = [ f(t)dt]e
0
1
= [ f(t)dt]dest
s 0
1
= [e st f(t)dt | e st f(t)dt ]
0
s
0
1
= [0 f 1(0) F(s)]
s
F(s)
f 1(0)
=
+
s
s
( f(t)dt)dt
L[
]=
B.
Bukti :
A.
df(t)
lim [
]e st dt = 0
dt
s 0
B.
df(t)
lim L[
] = lim [sF(s) f(0)]
dt
s 0
s 0
= lim sF(s) f(0)
s 0
st = 1
karena lim e
s 0
df(t)
]dt =f(t) |
[
0
dt
0
= f() f(0)
= lim sF(s) - f(0)
s 0
f() = lim f(t) = lim sF(s)
t
s 0
s +3
(s +1)(s + 2)
1. F(s) =
s +3
a1
a
+ 2
=
(s +1)(s + 2)
s +1 s + 2
F(s) =
[
a1
s +3
(s + 1)]
=2
s = 1
(s + 1)(s + 2)
a2 = [
s +3
(s + 2)]
= 1
s = 2
(s + 1(s + 2)
2
1
] + L-1[
]
s +1
s +2
= 2. e t e 2t
2. G(s) =
s3 + 5s 2 + 9s + 7
(s + 1)(s + 2)
G(s) = s + 2 +
G(t) =
3. F(s) =
s +3
(s +1)(s + 2)
d
(t) + 2 (t) + 2e t e 2t
dt
s +1
s(s + s +1)
2
F(s) =
s +
s +1
2 +a
= 1
2
s(s + s +1)
s + s +1 s
2
s +
s +1
2
= 1
2
s(s + s +1)
s + s +1
2
s +1
. s2 + s + 1 = 1s + 2 |s = 0,5 j0,866
s(s + s +1)
2
0,5 j0,866
= ( 0,5 j0,866) +
1
2
0,5 j0,866
0,5 j0.866 = 1 (0,25 + j0,866 0,75) + 2 (-0,5 j0,866)
Real : 0,5 = -0,51 0,52 1 + 2 = -1
Imajiner : -0,866 = 0,8661 0,8662 1 + 2 = -1
1 = -1 , 2 = 0
Untuk mendapatkan a :
a =[
s(s + 1)
]
=1
s=0
s(s 2 + s + 1)
s
1
+
F(s) = 2
s + s +1 s
1
s + 0,5
0,5
+
= s
2
2
(s + 0,5) + o,866
(s + 0,5) 2 + 0,8662
f(t) = L-1 [ F(s) ]
= 1 e 0,5t cos0,866t + 0,578e 0,5t sin0,866t
4. F(s) =
F(s) =
s 2 + 2s + 3
(s +1)3
b3
(s + 1)3
b3 = [
=
b2
(s + 1) 2
b1
(s + 1)
s 2 + 2s + 3
.(s +1)3 ]s= -1
3
(s +1)
(s2 + 2s + 3)s= -1
=2
b2 =
1 d s 2 + 2s + 3
{ [
.(s +1)3 ]}
s = 1
1! ds (s +1)3
= (2s +2)s= -1
=0
b1 =
1 d 2 s 2 + 2s + 3
{
[
.(s +1)3 ]}
s = 1
2! ds 2 (s +1)3
= . (2)
=1
f(t) = L-1 [ F(s) ]
= L-1 [
] + L-1 [
]
(s +1)3
s +1
= t2 . e-t + e-t
SOAL LATIHAN
1. F(s) =
s +1
2
s + 5s + 6
f(t) = ?
2. F(s) =
5(s + 2)
(s + 1)3 (s + 3)(s2 + s + 5)
f(t) = ?
3. f(t) = A cos (t + )
F(s)= ?
F(s) = ?
A untuk T t 2T
5.
F(s) =
A
?
2T
3
X(s) = 2
s + 3s + 6
Untuk mendapatkan x(t) :
3
9 9
X(s) = 2
s + 3s + + 6
4 4
=
3
(s + 3/2) 2 + 15/4
3
=
(s + 3/2) 2 + (
1
15 ) 2
2
6
1/2 15
15 (s + 3/4) 2 + (1/2 15 ) 2
x(t) =
2
15e 3/2t .Sin[(1/2 15 )t]
5