Metode 2 rangkaian a

Kcr 173.41
Pcr 1.73
Kp 104.046
Ti 0.865
Td 0.21625
Ki 120.284393
Kd 22.4999475

mula-mula
rise time max overshoot settling timsteady state error
A B % pada 1,02
1.478 s 1.5327 1 53.27 8.122 0

tunning manual
rise time max overshoot
A B % settling timsteady state error
1.381 1.2287 1 22.87 5.903 0

Percobaan Kp Ki Kd rise time overshoot settling time

1 89 125 35 1.449 32.69% 6.083
2 93.4 103.56 37.41 1.44 27.20% 5.277
3 96 53 85 1.28 11.80% 6.637
4 107 47 83 1.283 13.07% 6.306
Metode 2 rangkaian b
Kcr 280
Pcr 1.13
Kp 168
Ti 0.5645
Td 0.141125
Ki 297.608503
Kd 23.709

mula-mula
rise time max overshoot settling time steady state error
A B % pada 1,02
1.392 1.4456 1 44.56 5.903 0

tuning manual
1.339 1.231 1 23.1 2.873 0

Percobaan Kp Ki Kd Rise Time Overshoot Settling Time

1 170 190 76 1.271 14.37% 4.78