PID Modif
PID Modif
NIM
: 12050874253
Kelas : S1 T. Kontrol
G(s) =
5 (0.1 s+ 1)
s2 +6 s+53
U(s)
G(s) =
5 (0.1 s+ 1)
s2 +6 s+53
5 (0.1 s+ 1)
s2 +6 s+53 : 53
0.09(0.1 s +1)
1 2 6
s + s+1
53
53
K (s +1)
1 2 2
s+
s+ 1
Wn
Wn2
C(s)
= 0.09 .....(1)
= 0.1 .....(2)
2
Wn
2
7.3
= 53
1
2
Wn
Wn
= 53
= 7.3 .....(3)
6
53
6
= 0.4 .....(4)
d 2 = = 0.1 ....(5)
i + d2 =
ts ( 5%) = 2
2
Wn
3 =2
= 0.67
1
Wn 2
= K . KP
i ( d 1 + d 2 ) =
0.013 ( d 1 + 0.1) = 0.019
0.67 =
0.013
0.09 x KP
Kp =
0.013
0.06
= 0.217 .....(8)
Simulasi :
Hasil :