Bab 1 Sistem Kontrol

BASIC PENGENALAN SISTEM KONTROL
Modul : Pengenalan Sistem Kontrol

Oleh : Ir..Hasanuddin Sirait, MT
1
PENGENALAN SISTEM-SISTEM KONTROL
Sistem Kontrol Terbuka/Open-Loop
INPUT OUTPUT

- output tidak diukur maupun di feedback-kan
- bergantung pada kalibrasi
- hubungan antara output dan input diketahui
- tidak ada internal disturbance maupun eksternal disturbance
Contoh : - kontrol traffic (lalu lintas)
- mesin cuci
Keuntungan : mudah terjadi kestabilan
Kekurangan : komponen-komponen relatif mahal dan memiliki akurasi tinggi

Sistem Kontrol Tertutup / Close-Loop

INPUT OUTPUT

Terdapat feedback untuk mengurangi error

A. Manual Feedback Control / Manual Close-Loop Control System
Blok Diagram : Manual Feedback Control dari sebuah sistem thermal

B. Automatic Feedback Control / Automatic Close-Loop Control System
CONTROLLER
ER
PLANT / PROCESS
CONTROLLER
ER
PLANT / PROCESS
ELEMEN
PENGUKUR
2
Blok Diagram :
Kelebihan : komponen-komponen relatif lebih murah dan cukup akurat
Kekurangan : stabilitas menjadi persoalan utama

TRANSFORMASI LAPLACE
= =
0
st
.dt f(t).e F(s) [f(t)]
A. Fungsi Step
F(t) = 0 untuk t < 0
= A untuk t > 0

A

0 t

=
0
0
|
st
e
s
A
.dt
st
A.e F(s)
= 1) (0
s
A

=
s
A

B. Fungsi Pulse
F(t) = 0 untuk t < 0 & t >T
3
= A untuk 0 t T

A

0 T t

=
0
.dt
st
f(t).e F(s)

)
st
e (1
s
A
1)
st
(e
s
A
T
0
|
st
.e
s
A
T
0
.dt
st
A.e

Fungsi Unit Step : f(t) = 1 (t) F(s) = 1/s

C. Fungsi Impulse
to
A
0 to
lim f(t)
= untuk 0 < t < to

= 0 untuk t < 0 & to < t
)
o
st
e (1
s
0
t
A
0
t
lim F(s)

=
4
s
s
A

(tos)
dto
d
)]
sto
e [A(1
dto
d
0 to
lim
=
=

= 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 1 t
.dt
st
A.t.e
0
F(s)

=

2
s
A
0
.dt
st
e
s
A
dt
0
s
st
A.e
0
|
s
st
e
A.t.
0
.dt
st -
t.e A
=
=

E. Fungsi Eksponensiil
F(t) = o untuk t < 0
= A
t
e
untuk t 0

F(s)

=
0
.dt
st
.e
t
A.e
5

s
A
1) (0
s
A
0
|
)t (s
e
s
A
0
.dt
s)t (
e A
+
=
+
=
+
+
=
+
=

F. Fungsi Sinus
f(t) = A sin t

=
0
.dt
st
A.sin.si F(s)

2 2
2 2
s
A.
s
j s j s
.
2j
A
]
j s
1
j s
1
[
2j
A
0
]
s)t (j
e
s j
1
s)t (j
e
s j
1
[
2j
A
0
)dt
s)t (j
e
s)t (j
(e
2j
A
0
)dt
st
.e
t j
e
st
.e
t j
(e
2j
A
dt
0
st
.e
2j
t j
e
t j
e
A.
+
=
+
+ +
=
+
=
+
+
+
=

G. Fungsi Cosinus
f(t) = A cos t
F(s) = A.
2 2
s
s
+

TEOREMA-TEOREMA TRANSFORMASI LAPLACE
1. Teorema Translasi
Bila F(s) = L [ f(t) ],
Maka L [f (t - )] = .F(s)
.s
e

6
Bukti :
L [ f ( t - ) ]
=
0
.dt
st
)e f(t

.F(s)
s
e
0
dt
st
f(t).e
s
e
d
s
f(()
s
e
d
s
f((
0
) s(t
.e
s
)e f(t

=

2. Teorema Perkalian Dengan
t
e

Bila F(s) = L [ f(t) ],
Maka : L [
t
e
.f(t) ] = F ( s + )
Bukti :
L [
t
e
.f(t) ] =

0
.dt
st
f(t)e
t
e

) F(s
0
.dt
)t (s
f(t).e
+ =
+
=

3. Teorema Diferensiasi
Bila F(s) = L [ f(t) ],
Maka : L [
dt
df(t)
] = sF(s) f(0)
Dimana f(0) adalah harga f(t) untuk t=0
7
L [
2
dt
f(t)
2
d
] = s
2
F(s) - sf(0) f
I
(0)
L [
3
dt
f(t)
3
d
] = s
3
F(s) s
2
f(0) sf
I
(0) f
ii
(0)

Bukti :
L [
dt
df(t)
] =
0
.dt
st
)e
dt
df(t)
(

sF(s) f(0)
0
dt
st
f(t).e s f(0) 0
0
st
f(t)de
0
| .f(t)
st
e
df(t)
0
st
e
+ =
+ =
=

4. Teorema Integrasi
Bila F(s) = L [ f(t) ],
Maka : L [
f(t)dt ] =
s
(0)
1
f
s
F(s)

+
Dimana f
-1
(0) adalah
f(t)dt untuk t = 0
Bukti :
L [
f(t)dt ]

=
0
dt
st
f(t)dt]e [

s
(0)
1
f
s
F(s)
F(s)] (0)
1
f [0
s
1
]
0
f(t)dt
st
e
0
| f(t)dt
st
[e
s
1
0
st
f(t)dt]de [
s
1
+ =

=

8
L [

f(t)dt)dt ( ] =
s
(0)
ii
f
2
s
(0)
i
f
2
s
F(s)

+
+

5. Teorema Harga Awal Dan Harga Akhir
A. sF(s)
s
lim f(t)
0 t
lim

=

B. sF(s)
0 s
lim f(t)
t
lim
=

Bukti :
A.

0
0 dt
st
]e
dt
df(t)
[
s
lim
0 f(0) sF(s)
s
lim =

sF(s)
s
lim f(t)
0 t
lim f(0)

=
=
B. f(0)] [sF(s)
0 s
lim ]
dt
df(t)
L[
0 s
lim

f(0) sF(s)
0 s
lim
=
karena 1
st
e
0 s
lim =
=
0
0
| f(t) ]dt
dt
df(t)
[

f(0) - sF(s)
0 s
lim
f(0) ) f(
=
=

sF(s)
0 s
lim f(t)
t
lim ) f(
=

=

INVERSI TRANSFORMASI LAPLACE
Untuk mencari fungsi waktu f(t) dari transformasi laplacenya
L
-I
[ F(s) ] = f(t)
Metode Ekspansi Pembagian Parsial (Partial Fraction Expantion)
F(s) = F
1
(s) + F
2
(s) + .. + F
n
(s)
9
L
-I
[ F(s) ] = L
-I
[ F
1
(s) ] + L
-I
[ F
2
(s) ] + .. + L
-I
[ F
n
(s) ]
F(t) = f
1
(t) + f
2
(t) + .. + f
n
(t)

Contoh :
1. F(s) =
2) 1)(s (s
3 s
+ +
+

F(s) =
2) 1)(s (s
3 s
+ +
+
=
2 s
a
1 s
a
2 1
+
+
+

a
1 = 2
1 s
1)] (s
2) 1)(s (s
3 s
[ =
=
+
+ +
+

a
2
= 1
2 s
2)] (s
2) 1(s (s
3 s
[ =
=
+
+ +
+

f(t) = L
-1
[ F(s) ]
= L
-1
[
1 s
2
+
] + L
-1
[
2
1
+
s
]
= 2.
2t
e
t
e

2. G(s) =
2) 1)(s (s
7 9s 5s s
2 3
+ +
+ + +

G(s) = s + 2 +
2) 1)(s (s
3 s
+ +
+

G(t) =
2t
e
t
2e (t) 2 (t)
dt
d

+ +
3. F(s) =
1) s s(s
1 s
2
+ +
+

F(s) =
1) s s(s
1 s
2
+ +
+
=
s
a
1 s
2
s
2
s
1
+
+ +
+

Untuk mendapatkan
1
dan
2
:

1) s s(s
1 s
2
+ +
+
=
s
a
1 s
2
s
2
s
1
+
+ +
+

1) s s(s
1 s
2
+ +
+
=
1 s
2
s
2
s
1
+ +
+

1) s s(s
1 s
2
+ +
+
. s
2
+ s + 1 =
j0,866 0,5 s
|
2
s
1
=
+

2
j0,866) 0,5 (
1
j0,866 0,5
j0,866 0,5
+ =

10
0,5 j0.866 =
1
(0,25 + j0,866 0,75) +
2
(-0,5 j0,866)
Real : 0,5 = -0,5
1
0,5
2

1
+
2
= -1
Imajiner : -0,866 = 0,866
1
0,866
2

1
+
2
= -1

1
= -1 ,
2
= 0
Untuk mendapatkan a :
1
0 s
]
1) s
2
s(s
1) s(s
[ a =
=
+ +
+
=
F(s) =
s
1
1 s
2
s
s
+
+ +

=
2
0,866
2
0,5) (s
0,5
2
o,866
2
0,5) (s
0,5 s
s
1
+ +
+
+ +
+

f(t) = L
-1
[ F(s) ]
= 1 sin0,866t
0,5t
0,578e cos0,866t
0,5t
e

+

4. F(s) =
3
1) (s
3 2s
2
s
+
+ +

F(s) =
1) (s
b1
2
1) (s
b2
3
1) (s
b3
+
+
+
+
+

b3 = [
3
1) .(s
3
1) (s
3 2s
2
s
+
+
+ +
]
s= -1
=
(s
2
+ 2s + 3)
s= -1

= 2
b2 =
1 s
]}
3
1) .(s
3
1) (s
3 2s
2
s
[
ds
d
{
1!
1
=
+
+
+ +

= (2s +2)
s= -1

= 0
b1 =
1 s
]}
3
1) .(s
3
1) (s
3 2s
2
s
[
2
ds
2
d
{
2!
1
=
+
+
+ +

= . (2)
= 1
f(t) = L
-1
[ F(s) ]
= L
-1
[
3
1) (s
2
+
] + L
-1
[
1 s
1
+
]
= t
2
. e
-t
+ e
-t

11

SOAL LATIHAN
1. F(s) =
6 5s
2
s
1 s
+ +
+
f(t) = ?
2. F(s) =
5) s
2
3)(s (s
3
1) (s
2) 5(s
+ + + +
+
f(t) = ?
3. f(t) = A cos (t + ) F(s)= ?
4. f(t) = 0 untuk t < 0 & t > 2T
-A untuk 0 t < T F(s) = ?
A untuk T t 2T
5.
A F(s) = ?

T 2T t
12
PENYELESAIAN PERSAMAAN DIFFERENSIAL
Contoh :
1. Selesaikan persamaan differensial berikut :
3 (0)
.
x 0, x(0) 0, 6x
.
x 3
..
x = = = + +
Transformasi laplace dari persamaan differential diatas menghasilkan :
s
2
X(s) sx(0) -
.
x (0) + 3(sX(s) x(0)) + 6X(s) = 0
s
2
X(s) 0 3 + 3 (sX(s) 0) + 6X(s) = 0
X(s) (s
2
+ 3s + 6) = 3
X(s) =
6 3s
2
s
3
+ +

Untuk mendapatkan x(t) :
X(s) =
6
4
9
4
9
3s s
3
2
+ + +

=
15/4 3/2) (s
3
2
+ +

=
2 2
) 15
2
1
( 3/2) (s
3
+ +

=
2 2
) 15 (1/2 3/4) (s
15 1/2
15
6
+ +

x(t) = )t] 15 .Sin[(1/2
3/2t
e 15
5
2

Bab 1 Sistem Kontrol

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Bab 1 Sistem Kontrol

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BASIC PENGENALAN SISTEM KONTROL

Modul : Pengenalan Sistem Kontrol

= untuk 0 < t < to

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