“Universitas Surabaya” “Daftar Isi”

DAFTAR ISI

KATA PENGANTAR.............................................................................................i

INTISARI..............................................................................................................iii

ABSTRACT...........................................................................................................iv

DAFTAR ISI...........................................................................................................v

DAFTAR GAMBAR...........................................................................................viii

DAFTAR TABEL...................................................................................................x

BAB I PENDAHULUAN................................................................................I-1

I.1. Latar Belakang......................................................................................I-1

I.2. Perumusan Masalah..............................................................................I-2

I.3. Tujuan Penelitian..................................................................................I-3

I.4. Manfaat Penelitian................................................................................I-3

I.5. Batasan Masalah....................................................................................I-3

BAB II TINJAUAN PUSTAKA.....................................................................II-1

II.1. Penelitian Terdahulu............................................................................II-1

II.2. Proses Pendinginan Susu di Koperasi SAE Pujon Malang..................II-3

BAB III LANDASAN TEORI DAN HIPOTESA........................................III-1

III.1. Landasan Teori...................................................................................III-1

III.1.1. Susu Sapi.....................................................................................III-1

III.1.2. MATLAB....................................................................................III-4

III.1.3. Simulasi Menggunakan Model Matematis..................................III-5

Metode ARX Untuk Identifikasi Sistem Batch Pada v

Pendinginan Susu
 “Universitas Surabaya” “Daftar Isi”

III.1.4. Jenis – Jenis Metode Pada MATLAB.........................................III-5

III.1.4.1. Metode Auto Regressive Exogenous (ARX).......................III-5

III.1.4.2. Metode Proporsional Integral Derivative (PID).................III-6

III.1.4.2.1. Pengendali Proporsional (P)...........................................III-6

III.1.4.2.2. Pengendali Integral (I)....................................................III-7

III.1.4.2.3. Pengendali Derivative (D)..............................................III-8

III.1.4.3. Metode Fuzzy Logic Controller (FLC)................................III-9

III.1.4.3.1. Fungsi Keanggotaan.......................................................III-9

III.1.4.3.2. Metode Fuzzy Takagi – Sugeno Kang (TSK)................III-10

III.2. Hipotesis...........................................................................................III-11

BAB IV METODE PENELITIAN................................................................IV-1

IV.1. Peralatan dan Bahan...........................................................................IV-1

IV.1.1. Bahan..........................................................................................IV-1

IV.1.2. Peralatan.....................................................................................IV-1

IV.2. Prosedur dan Skema Penelitian..........................................................IV-1

IV.2.1. Prosedur Penelitian.....................................................................IV-1

IV.2.2. Skema Penelitian.........................................................................IV-2

IV.3. Sistem yang Dipelajari........................................................................IV-2

IV.4. Mengidentifikasi Hasil Dengan System Identification Toolbox.........IV-5

IV.5. Metode Auto Regressive Exogenous...................................................IV-5

BAB V HASIL DAN PENAMBAHAN.........................................................V-1

BAB VI KESIMPULAN DAN SARAN........................................................VI-1

Metode ARX Untuk Identifikasi Sistem Batch Pada vi

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 “Universitas Surabaya” “Daftar Isi”

VI.1. Kesimpulan........................................................................................VI-1

VI.2. Saran...................................................................................................VI-1

DAFTAR PUSTAKA.........................................................................................D-1

LAMPIRAN........................................................................................................L-1

L.1. Data Percobaan....................................................................................L-1

L.2. Perhitungan Parameter Untuk Model Matematis.................................L-1

L.3. Simulasi Lintas Terbuka (Open Loop Simulation) Untuk Model

Pendinginan Susu Dengan Gangguan Tertentu....................................L-3

L.4. Langkah – Langkah Identifikasi Hasil Dengan Menggunakan

System Identification Toolbox Untuk Mendapatkan Model Auto

Regressive Exogenous..........................................................................L-5

L.5. Langkah – Langkah Simulasi Hasil Model Auto Regressive

Exogenous dan Membandingkan Dengan Model Mekanistik..............L-8

L.6. Perhitungan Root Mean Square Error................................................L-10

Metode ARX Untuk Identifikasi Sistem Batch Pada vii

Pendinginan Susu
 “Universitas Surabaya” “Daftar Gambar”

DAFTAR GAMBAR

Gambar 2.1. Tangki Pendinginan Susu Merk Packo di Koperasi SAE

Pujon..........................................................................................II-4

Gambar 2.2. Tangki Pendingin Sistem Batch..................................................II-5

Gambar 3.1. Simulator Sistem Lintas Terbuka..............................................III-5

Gambar 3.2. Representasi Linear Naik..........................................................III-9

Gambar 3.3. Representasi Linear Turun......................................................III-10

Gambar 3.4. Representasi Kurva Segitiga...................................................III-10

Gambar 4.1. Skema Penelitian.......................................................................IV-2

Gambar 4.2. Tangki Pendingin Sistem Batch................................................IV-2

Gambar 5.1. Hasil Input dan Output Dari Penurunan Model Matematis

Untuk Gangguang Ramp – Step.................................................V-2

Gambar 5.2. Hasil Input dan Output Dari Penurunan Model Matematis

Untuk Gangguang Repeating Sequence Stair.............................V-2

Gambar 5.3. Hasil Input dan Output Dari Penurunan Model Matematis

Untuk Gangguan Sine Wave......................................................V-3

Gambar 5.4. Hasil Input dan Perbandingan Output Antara Penurunan

Model Matematis Dan ARX Model Untuk Gangguan Ramp –

– Step..........................................................................................V-7

Gambar 5.5. Hasil Input dan Perbandingan Output Antara Penurunan

Model Matematis Dan ARX Model Untuk Gangguan

Metode ARX Untuk Identifikasi Sistem Batch Pada viii

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 “Universitas Surabaya” “Daftar Gambar”

Repeating Sequance Stair...........................................................V-7

Gambar 5.6. Hasil Input dan Perbandingan Output Antara Penurunan

Model Matematis Dan ARX Model Untuk Gangguan

Sine Wave..................................................................................V-8

Gambar L.1. Simulasi Lintas Terbuka Untuk Penurunan Model Matematis

Gangguan Ramp – Step...............................................................L-4

Gambar L.2. Simulasi Lintas Terbuka Untuk Penurunan Model Matematis

Gangguan Repeating Sequance Stair..........................................L-4

Gambar L.3. Simulasi Lintas Terbuka Untuk Penurunan Model Matematis

Gangguan Sine Wave..................................................................L-4

Gambar L.4. Simulasi Sistem Lintas Terbuka Untuk Perbandingan Antara

Penurunan Model Matematis dan ARX Model Gangguan

Ramp – Step................................................................................L-8

Gambar L.5. Simulasi Sistem Lintas Terbuka Untuk Perbandingan Antara

Penurunan Model Matematis dan ARX Model Gangguan

Repeating Sequance Stair...........................................................L-9

Gambar L.6. Simulasi Sistem Lintas Terbuka Untuk Perbandingan Antara

Penurunan Model Matematis dan ARX Model Gangguan

Sine Wave...................................................................................L-9

Metode ARX Untuk Identifikasi Sistem Batch Pada ix

Pendinginan Susu
 “Universitas Surabaya” “Daftar Tabel”

DAFTAR TABEL

Tabel 2.1. Data Parameter Proses Pendinginan Susu Sistem Batch............II-5

Tabel 5.1. Property dan Value Auto Regressive Exogenous yang

Diperoleh Untuk Gangguan Ramp – Step..................................V-4

Tabel 5.2. Property dan Value Auto Regressive Exogenous yang

Diperoleh Untuk Gangguan Repeating Sequance Stair..............V-4

Tabel 5.3. Property dan Value Auto Regressive Exogenous yang

Diperoleh Untuk Gangguan Sine Wave.....................................V-4

Tabel 5.4. ARX Model dan Transfer Function yang Diperoleh Untuk

Setiap Gangguan........................................................................V-5

Tabel 5.5. Hasil Perhitungan Root Mean Square Error..............................V-9

Tabel L.1. Data Parameter Proses Pendinginan Susu Sistem Batch............L-1

Metode ARX Untuk Identifikasi Sistem Batch Pada x

Pendinginan Susu