x

y
25.5
26.4
27.7
28.7
29.4
30.1
30.7
31.1
31.6
31.9
32.2
32.5
32.7
33
33.2
33.2

0
3
6
9
12
15
18
21
24
27
30
33
36
39
42
45

7.7
T25

T75
27.425
5.2

31.275
22.5

34
33.8
33.6
33.4
33.2
33
32.8
32.6
32.4
32.2
32
31.8
31.6
31.4
31.2
31
30.8
30.6
30.4
30.2
30
29.8
29.6
29.4
29.2
29
28.8
28.6
28.4
28.2
28
27.8
27.6
27.4
27.2
27
26.8
26.6
26.4
26.2
26
25.8
25.6
25.4
25.2
25
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48

Series1

48

ZIEGLER
Pengendali

Kp

Tn (detik)

PI

15.9

3.03

PID

21.31

1.82

Tv (detik)

0.455

COHEN-COON
Pengendali

Kp

Tn (detik)

PI

16.07619

2.700173

PID

23.94805

2.185897

Tv (detik)

0.324

ITAE
Pengendali

operasi

Kp

Tndetik

Tvdetik

PI

SERVO

8.08

12.05951

PI

REGULATOR

14.25

3.3492

PID

SERVO

11.32

19.7624

0.3428

PID

REGULATOR

20.59

2.2739

0.3516

ziegler
x
25
30.5
37
42.3
47.3
49.9
50.2
50.2
ziegler
50
50.1
50.2
50.8
51.5
51.6
50.6
50.5
50.4
50.3
50.1
50.3
50.2
50

servo
t

coohen
0
3
6
9
12
15
18
21

regulator
0
1
2
3
4
5
6
7
8
9
10
11
12
13

25
29
36.4
41.8
46.9
49
50
50
50
coohen
50
50.3
51.1
51.6
51.6
51.4
50.9
50.5
50.3
50.2
50.1
50.2
50

servo

ITAE
0
3
6
9
12
15
18
21
24

regulator
0
1
2
3
4
5
6
7
8
9
10
11
12

servo
25
30
36.7
41.7
46.7
47.9
48.5
49.2
49.5
49.6
49.7
49.8
49.9
50
50

ITAE

0
3
6
9
12
15
18
21
24
27
30
33
36
39
42
regulator

50
51.4
51.9
51
50.8
50.2
50.3
50.2
50.1
50.2
50

0
1
2
3
4
5
6
7
8
9
10

Servo
55
50
Axis Title

45
40
35
30
25
20
0

10

15

20

25

30

35

40

45

Axis Title

Regulator
52

Axis Title

51.5
51
50.5
50
49.5
0

8
Axis Title

10

12

14

ziegler
coohen
ITAE

ziegler
coohen
ITAE