c( t ) = 1 −
e −ζω n t
βζ ( β − 2) + 1
2
{
βζ 2 ( β − 2) cos 1 − ζ 2 ω n t
+
βζ [ζ 2 ( β − 2) + 1]
1−ζ 2
}
sin 1 − ζ 2 ω n t −
e − pt
βζ 2 ( β − 2) + 1
( t ≥ 0)
dengan:
p
β=
ζω n
Mengingat:
βζ 2 ( β − 2) + 1 = ζ 2 ( β − 1) 2 + (1 − ζ 2 ) > 0
maka suku yang mengandung e-pt selalu negatif .
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-19
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
Diperoleh:
C(s) p (s ) d (s )
=
R (s ) q (s )d (s ) + p (s ) n (s )
b 0s m + b1s m −1 + L + b m −1s + b m
= (m ≤ n)
a 0 s n + a 1s n −1 + L + a n −1s + a n
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-20
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
m
K ∏ (s + z i )
C(s) = q
i =1
r
s∏ (s + p j ) ∏ (s 2 + 2ζ kω k s + ω k2 )
j=1 k =1
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-21
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
a q aj r
b k (s + ζ kω k ) + c kω k 1 − ζ k2
C(s) = + ∑ +∑
s j=1 s + p j k =1 s 2 + 2ζ kω k s + ω k2
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-22
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-23
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
♦ Kestabilan Sistem
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-24
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-25
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
meningkat pula.
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-26
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
C(s) G (s)
=
R (s ) 1 + G (s) H(s)
dan :
E (s ) C(s) H(s) 1
=1− =
R (s ) R (s ) 1 + G (s) H(s)
Diperoleh :
1
E (s ) = R (s )
1 + G (s ) H (s )
sR (s)
e ss = lim e( t ) = lim sE (s) = lim
t →∞ s →0 s→ 0 1 + G (s) H(s)
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-27
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
s 1
e ss = lim
s → 0 1 + G (s ) H (s ) s
1
=
1 + G (0) H(0)
1
e ss =
1+ Kp
K (Ta s + 1)(Tb s + 1) L
K p = lim =K
s →0 (T1s + 1) (T2 s + 1) L
K (Ta s + 1)(Tb s + 1) L
K p = lim =∞ ( N ≥ 1)
s →0 s N (T1s + 1) (T2 s + 1) L
1
e ss = untuk sistem tipe 0
1+ K
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-28
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
s 1
e ss = lim
s → 0 1 + G (s ) H (s ) s 2
1
= lim
s → 0 sG (s ) H (s )
kυ = lim sG (s)H(s)
s→0
1
e ss =
Kυ
sK (Ta s + 1)(Tb s + 1L
k v = lim =0
s →0 (T1s + 1)(T2 s + 1) L
sK (Ta s + 1)(Tb s + 1L
k v = lim =K
s→ 0 (T1s + 1)(T2 s + 1) L
sK(Ta s + 1)(Tb s + 1L
k v = lim =∞ ( N ≥ 2)
s →0 s N (T1s + 1)(T2 s + 1) L
1
e ss = =∞ for type 0 systems
Kυ
1 1
e ss = = for type 1 systems
Kυ K
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-29
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
1
e ss = =0 for type 2 or higher systems
Kυ
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-30
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
keadaan tunak.
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-31
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
t2
r(t ) = for t≥0
2
=0 for t<0
1
= 2
lim s G (s) H(s)
s→ 0
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-32
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-33
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-34
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
Maka:
∞ ∞
lim
s→ 0 ∫0
∈−st e( t ) dt = ∫ e( t )dt = lim E (s)
0 s→ 0
Ingat:
E (s ) H(s)C(s) 1
= 1− =
R (s ) R (s ) 1 + G (s ) H (s )
Sehingga:
∞ R (s )
∫0
e(t ) dt = lim
s → 0 1 + G (s) H (s)
1
=
Kυ
= steady-state actuating error in unit-ramp response
Dengan demikian :
∞
∫0
e( t ) dt = e ssr
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-35
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-36
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
o ANALISIS KEPEKAAN
dengan:
T (s) = C(s) / R (s)
dT(s) / T (s)
S TK (s) =
dK(s) / K (s)
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-37
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-38
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
dengan:
Sehingga:
K 1 T (s )
S TK1 (s) = =1
T(s) K 1
= =
dK 2 [1 + K 2 G (s)]2 K 1 [1 + K 2 G (s)] 2
Sehingga:
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-39
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
− K 1 G 2 (s) − K 2 G (s )
2
K2
S (s) =
T
=
T(s) K 1 [1 + K 2 G (s)]2 1 + K 2 G (s)
K2
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-40
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-41
Bab 4: Analisis Sistem Kendali EL303: Sistem Kendali
___________________________________________________________________________
Teknik Elektro ITB [EYS-1998] hal 4-42