Metode tuning kontrol Proporsional Integral

Metode Kp Ti Keterangan

0.6𝑇 0% overshoot-
Chien - regulator 1 4L 𝐿
K. 𝐿 0.11 <𝑇 < 1.0
0.7𝑇 𝐿 20% overshoot-
Chien - regulator 2 K. 𝐿 2.33K 𝐿
0.11 <𝑇 < 1.0
Astrom & Hagglund 0.7𝑇
2.3L 20% overshoot-
Regulator K. 𝐿
0.35𝑇 0% overshoot-
Chien - servo 1 K. 𝐿 1.17L 𝐿
0.11 <𝑇 < 1.0
0.6𝑇 20% overshoot-
Chien - servo 2 K. 𝐿 T 𝐿
0.11 <𝑇 < 1.0
Ziegler & Nichols 0.9𝑇 Quarter decay
K. 𝐿 3.33L 𝐿
Proces Reaction ratio 𝑇 ≤ 1
Quarter decay
Two constrain 0.928 𝑇 0.946 𝑇 𝐿 0.583
ratio
Criterion-Murrill ( ) ( )
K 𝐿 1.078 𝑇 𝐿
0.1≤𝑇 ≤ 1
0.333𝑇 𝐿
St. Clair T ≤3
K. 𝐿 𝑇

Minimum IAE 0.984 𝑇 0.986 𝑇 𝐿 0.707 𝐿

( ) ( ) 0.1≤𝑇 ≤ 1
Murrill Regulator K 𝐿 0.608 𝑇
1.279 𝑇 0.945 𝑇 𝐿 0.586 𝐿
( ) ( ) 0.1≤𝑇 ≤ 1
Minimum ISE K 𝐿 0.535 𝑇
Zhuang & Atherton 1.346 𝑇 0.675 𝑇 𝐿 0.438 𝐿
( ) ( ) 1.1≤𝑇 ≤ 2
K 𝐿 0.552 𝑇
Minimum ITAE 0.984 𝑇 0.986 𝑇 𝐿 0.680 𝐿
( ) ( ) 0.1≤𝑇 ≤ 1
Murrill K 𝐿 0.674 𝑇