Proportional Control

𝑈(𝑠)
𝑈(𝑡) = 𝐾𝑝 𝑒(𝑡) Laplace : 𝐸(𝑠) = 𝐾𝑝

Integral Control Action

𝑑𝑢(𝑡) 𝑡
= 𝐾𝑖 𝑒(𝑡) atau 𝑢(𝑡) = 𝐾𝑖 ∫0 𝑒(𝑡)𝑑𝑡
𝑑𝑡

𝑈(𝑠) 𝐾𝑖
Laplace :𝐸(𝑠) = 𝑠

Proportional-Integral Action
𝐾𝑝 𝑡
𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + ∫ 𝑒(𝑡)𝑑𝑡
𝑇𝑖 0
𝑈(𝑠) 1
TF : 𝐸(𝑠) =𝐾𝑝 (1 + 𝑇 + 𝑇𝑑 𝑠)
𝑖

Proportional-Derivative Action
𝑑𝑒(𝑡)
𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + 𝐾𝑝 𝑇𝑑
𝑑𝑡
𝑈(𝑠)
TF :𝐸(𝑠) = 𝐾𝑝 (1 + 𝑇𝑑 𝑠)

Proportional-Integral-Derivative Action
𝐾𝑝 𝑡 𝑑𝑒(𝑡)
𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + ∫ 𝑒(𝑡)𝑑𝑡 + 𝐾𝑝 𝑇𝑑
𝑇𝑖 0 𝑑𝑡
𝑈(𝑠) 1
TF :𝐸(𝑠) = 𝐾𝑝 (1 + 𝑇 𝑠 + 𝑇𝑑 𝑠
𝑖
Proportional Control System

𝐾
𝐺(𝑠) =
𝑇𝑠 + 1
𝐸(𝑠) 𝑅(𝑠) − 𝐶(𝑠) 𝐶(𝑠) 1
= = 1− =
𝑅(𝑠) 𝑅(𝑠) 𝑅(𝑠) 1 + 𝐺(𝑠)
1
Maka : E(s)= 𝐾 R(s)
1+
𝑇𝑠 +1

R(s)=1/s
𝑇𝑠 + 1 1
𝐸(𝑠) =
𝑇𝑠 + 1 + 𝐾 𝑠
𝑇𝑠 + 1 1
𝑒𝑠𝑠 = lim 𝐸(𝑠) = lim =
𝑛→0 𝑛→0 𝑇𝑠 + 1 + 𝐾 𝐾 + 1

Integral Control System

𝐶(𝑠) 𝐾
=
𝑅(𝑠) 𝑠(𝑇𝑠 + 1) + 𝐾
𝐸(𝑠) 𝑅(𝑠)−𝐶(𝑠) 𝑠(𝑇𝑠 +1)
, = =
𝑅(𝑠) 𝑅(𝑠) 𝑠(𝑇𝑠+1)+𝐾

𝑠 2 (𝑇𝑠 + 1) 1
𝑒𝑠𝑠= lim 𝐸(𝑠) = lim 2
𝑛→0 𝑛→0 𝑇 + 𝑠 + 𝐾 𝑠
𝑠

=0
Derivative Control System
EX

𝑝(𝑠) 1
= 2
𝑞(𝑠) 𝑠 + 5𝑠 + 8

Ps = [1];
Qs = [1 5 8];
step(Ps, Qs)


Kp = 80;
Ps = [Kp];
Qs = [1 5 8+Kp];
t = 0 : 0.01 : 2;
step(Ps, Qs)
  Kp = 80;
Kd = 6;
Ps = [Kd Kp];
Qs = [1 5+Kd 8+Kp];
t = 0 : 0.01 : 2;
step(Ps, Qs)

 Kp = 80;
Kd = 6;
Ps = [Kd Kp];
Qs = [1 5+Kd 8+Kp];
t = 0 : 0.01 : 2;
step(Ps, Qs)

 Kp = 85;
Ki = 90;
Kd = 20;
Ps = [Kd Kp Ki];
Qs = [1 5+Kd 8+Kp Ki];
t = 0 : 0.01 : 2;
step(Ps,Qs)

clear all
clc

num = [ 1 ]
denom = [ 1 5 8 ]

Gp = tf(num, denom);
H = [ 1 ]
M = feedback ( Gp, H)
step(M)
hold on
%%
Kp = 85
Ki = 90
Kd = 20

Gc = pid( Kp, Ki, Kd)

Mc = feedback( Gc*Gp, H)
step(Mc)
grid on
State Space
Eq:

𝑥̇ (𝑡) = 𝑓(𝑥, 𝑢, 𝑡)
𝑦(𝑡) = 𝑔(𝑥, 𝑢, 𝑡)
𝑥̇ (𝑡) = 𝐴(𝑡)𝑥(𝑡) + 𝐵(𝑡)𝑢(𝑡)
𝑦(𝑡) = 𝐶(𝑡)𝑥(𝑡) + 𝐷(𝑡)𝑢(𝑡)

𝑥1 = 𝑦̇
𝑥𝑛 = 𝑦 (𝑛−1)

dimana,

Y = CX

𝑦(𝑠) 1
= 𝑛 𝑛−1
𝑢(𝑠) 𝑠 + 𝑎1𝑆 + ⋯ + 𝑎𝑛−1 𝑆 + 𝑎𝑛
Dengan β,

𝑥̇ = 𝐴𝑥 + 𝐵𝑢
𝑑𝑖𝑚𝑎𝑛𝑎, 𝑦 = 𝐶𝑥 + 𝐷𝑢