Metode Ziegler Nich

Percobaan Set point Load K Tg Tu kP

PI 0.9 16.8 1.8 9.333

100 0
PID 0.9 16.8 1.8 12.444

PI 0.9 16.8 1.8 9.333

Delay
REGULATOR 100
100s
PID 0.9 16.8 1.8 12.444

Metode ITAE

Percobaan Set point Load K Tg Tu kP

PI 0.9 16.8 1.8 5.037

SERVO 100 0
PID 0.9 16.8 1.8 7.239

PI 0.9 16.8 1.8 8.462

REGULATOR 100 0
PID 0.9 16.8 1.8 12.502
Metode Ziegler Nichols
Overshoot Setting
Offset Rise
Ti kI Td kD Time
(%) Max N (%) Time
(2%)

5.994 1.557 - - - 142.5 42.5 3.881 21.362

3.6 3.457 0.9 11.2 - 131.7 31.7 2.929 16.513

5.994 1.557 - - - 107.3 7.3 99.992 110.057

3.6 3.457 0.9 11.2 - 105.8 5.8 99.923 108.56

Metode ITAE
Overshoot Setting
Offset Rise
Ti kI Td kD Time
(%) Time
Max N (%) (2%)

16.596 0.304 - - - 104.2 4.2 8.174 14.159

21.532 0.336 0.65 4.703 - - - 9.262 15.357

5.458 1.55 - - - 143.2 43.2 4.062 22.676

3.838 3.257 0.694 8.67 - 136 36 2.967 15.445

 Metode Cohen Coon

Percobaan Set point Load K Tg Tu kP Ti

PI 0.9 16.8 1.8 9.426 4.898

100 0
PID 0.9 16.8 1.8 14.105 4.24

PI 0.9 16.8 1.8 9.426 4.898

Delay
REGULATOR 100
100s
PID 0.9 16.8 1.8 14.105 4.24
Metode Cohen Coon
Overshoot Setting
Offset Rise
kI Td kD Time
(%) Max N (%) Time
(2%)

1.924 0 0 - 150.2 50.2 3.734 25.5

3.326 0.642 9.056 - 135 35 2.787 13.543

1.924 - - - 101.9 1.9 3.734 110.152

3.326 0.642 9.056 - 101.4 1.4 2.787 107.89