nilai_error = nilai_setpoint - nilai_sensor; //Untuk kontrol proporsional outkp = kp * nilai_error; //Untuk kontrol integral error_i = nilai_error + nilai_error_i; outki

= ki* error_i; //nilai Ki ditentukan melalui metode try and error nilai_error_i = error_i; //Untuk kontrol derivatif error_d = nilai_error - nilai_error_d; outkd = kd * error_d; //nilai Kd ditentukan melalui metode try and error nilai_error_d = error_d; //kontrol PID outPID=outkp + outki + outkd;

1023

1002 1203 0 21 180

nilai setpoint nilai sensor nilai eeror kp ki kd

3000 4000 -1000 0.1 0.3 0.001

nilai error

-1000

nilai eeror i nilai eror d

0 error i 0 error d

out kp -1000 out ki -1000 out kd

-100 -300 -1 -401

1750 1899 1 727 876

948 847 2 75 176

1071 922 3 48 101

1670 1770 4 647 747

1023 120 80 40

903

783

663

663

743 783