A. Percobaan 1 B.

Percobaan 2

Ziegler-Nichols Ziegler-Nichols
Pengendali Kp Tn Tv Pengendali Kp Tn Tv
PI 5,991 10,057 - PID 7,988 6,04 1,51

No Time PV No Time (s) PV

1 0 25 1 0 25
2 3 28.3 2 3 29.7
3 6 33.7 3 6 36.5
4 9 36.3 4 9 41.8
5 12 38.9 5 12 46.9
6 15 42.2 6 15 50.5
7 18 43.4 7 18 52.5
8 21 44.9 8 21 53.2
9 24 46.3 9 24 52.2
10 27 47.5 10 27 51.6
11 30 48.5 11 30 51.3
12 33 49.3 12 33 50.6
13 36 50 13 36 50.7
14 39 50.7 14 39 49.7
15 42 51.2 15 42 50.1
16 45 51.7 16 45 49.6
17 48 52.1 17 48 50.2
18 51 52.1 18 51 49.7
19 54 52.1 19 54 50.4
20 57 51.8 20 57 49.7
21 60 51.6 21 60 49.8
C. Percobaan 3 D. Percobaan 4

Cohen-Coon Cohen-Coon
Pengendali Kp Tn Tv Pengendali Kp Tn Tv
PI 6,088 7,378 - PID 9,167 6,932 1,064

No Time PV No Time PV
1 0 25 1 0 25
2 3 31 2 3 28.5
3 6 36.8 3 6 31.3
4 9 41.4 4 9 33.4
5 12 44.5 5 12 35
6 15 48 6 15 36.4
7 18 50.4 7 18 37.4
8 21 52.8 8 21 38.2
9 24 52.3 9 24 39
10 27 52.1 10 27 39.4
11 30 51.8 11 30 39.7
12 33 51.2 12 33 39.9
13 36 50.6 13 36 40.1
14 39 50.4 14 39 40.4
15 42 50.1 15 42 40.7
16 45 49.9 16 45 41.1
17 48 49.6 17 48 41.4
18 51 49.7 18 51 41.6
19 54 49.6 19 54 42
20 57 49.6 20 57 42.3
21 60 49.6 21 60 42.9
 E. Percobaan 5 F. Percobaan 6

Kriteria Minimum ITAE Kriteria Minimum ITAE

Pengendali Operasi Kp Tn Tv Pengendali Operasi Kp Tn Tv
PI Servo 3,36 17,29 - PI Regulator 5,49 7,83 -

No Time PV No Time PV
1 0 25 1 0 50
2 3 31.2 2 3 52.3
3 6 36.4 3 6 52
4 9 42.2 4 9 51.3
5 12 45.7 5 12 51
6 15 48.3 6 15 50.5
7 18 48.8 7 18 50.3
8 21 51.1 8 21 50.2
9 24 51.8 9 24 50.1
10 27 52 10 27 50.2
11 30 52 11 30 50
12 33 52.1 12 33 50.1
13 36 52
14 39 51.9
15 42 51.7
16 45 51.5
17 48 51.4
18 51 51.1
19 54 51.2
20 57 50.9
21 60 50.8
22 63 50.6
23 66 50.5
24 69 50.3
25 72 50.1
26 75 50.1
27 78 50
G. Percobaan 7 H. Percobaan 8

Kriteria Minimum ITAE Kriteria Minimum ITAE

Pengendali Operasi Kp Tn Tv Pengendali Operasi Kp Tn Tv
PID Servo 4,988 22,44 1,053 PID Regulator 8,236 5,665 0,938

No Time PV No Time PV
1 0 25.1 1 0 50
2 3 30.4 2 3 52.6
3 6 36.7 3 6 52.6
4 9 41.7 4 9 51.5
5 12 45.4 5 12 50.8
6 15 47.6 6 15 50.3
7 18 48.7 7 18 50.2
8 21 49.5 8 21 50
9 24 50 9 24 50
10 27 50
11 30 50.1
12 33 50.2