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No Nama NRP
1 KurniaDiastanaAbirandra 02311640000012
2 Maharani Sarah Holle 02311640000015
3 YuliMauliza 02311640000111
4 Farah QoonitaSyuhaila 02311640000120
Hasil Tugas
1. PerancanganPengendalidenganmetode ZN
AnalisaKestabilanMetodeRouth- Hurwitz
s3 12,25 306,798
s2 122,59 1+573,25K
s1 (122,59)(306,798) − (12,25)(1 + 573,25𝐾)
122,59
sehinggaKcbisadidapatkan
1+573,25K > 0
K > -573,25
(122,59)(306,798) − (12,25)(1 + 573,25𝐾)
122,59
K < 5,28
Frekuensiosilasidicaridenganpersamaankarakteristik :
, 02𝑠 3 + 0,21𝑠 2 + 0,54𝑠 + 1 + 𝑘 = 0
Substitusi 𝑠 = 𝑖𝜔𝑢
0,02𝑠 3 + 0,21𝑠 2 + 0,54𝑠 + 1 + 𝑘 = 0
−0,02𝑖𝜔𝑢 3 − 0,21𝜔𝑢 2 + 0,54𝑖𝜔𝑢 + 1 + 𝑘 = 0
−0,02𝑖𝜔𝑢 3 + 0,54𝑖𝜔𝑢 = 0
𝑖𝜔𝑢 (−0,02𝜔𝑢 2 + 0,54) = 0
𝜔𝑢 = 0 𝑑𝑎𝑛 𝜔𝑢 2 = 27
frekuensi osilasi didapatkan :
𝜔𝑢 = ±5,2
pengendali PI
num = [76.75 460.474 383.724];
den = [12.25 122.59 306.798 1363.22 1362.22];
step(num,den)
grid
title('Unit-Step Response')
Pengendali PID
num = [2.907 75.905 339.15 161.5];
den = [12.25 122.59 358.397 1090.32 573.325];
step(num,den)
grid
title('Unit-Step Response')
Gambar hasil respon sistempengendali
Respon pengendali P
Respon pengendali PI
Respon pengendali PID
Karakteristikrespon sistem (Ess, Ts, Tr, Tk, Mov)
3. Referensi