Tugas Pengantar RobotikaIka amalia S – 29110391

4KB01

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Pengendali Proporsional, Integral, Derivatif

Dik :

Kp = 3 , Ki = 9 , Kd = 1

Perhitungan :

= ( 3 + + s ) . = = =

= . = = ,

Maka,

Num = [ 2 6 18 ]

Den = [ 6 9 18 ]

Out =

16.667 46.729 58.217 52.482 48.303 49.007 50.256 50.314 49.994 49.91518.665 48.756 58.083 51.917 48.228 49.143 50.303 50.287 49.97620.937 50.590 57.840 51.382 48.188 49.277 50.340 50.259 49.96123.418 52.223 57.501 50.881 48.180 49.408 50.368 50.229 49.94726.048 53.652 57.082 50.420 48.200 49.535 50.387 50.200 49.93628.771 54.874 56.599 50.000 48.246 49.656 50.399 50.170 49.92731.536 55.895 56.064 49.624 48.315 49.769 50.403 50.140 49.921

34.296 56.717 55.492 49.293 48.402 49.874 50.400 50.112 49.91637.008 57.351 54.896 49.007 48.504 49.970 50.392 50.085 49.91339.637 57.805 54.286 48.767 48.619 50.057 50.378 50.059 49.91142.150 58.092 53.674 48.571 48.743 50.133 50.360 50.035 49.91144.521 58.225 53.070 48.417 48.873 50.200 50.339 50.013 49.913

Dapat dilihat Output dengan menggunakan software Matlab sebagai dengan plot

sebagai berikut :