Penalaan PID Menggunakan Internal Model Controller dengan Pendekatan Model Tustin

PID control is a popular controlling technique in high accuracy control system. PID tuning is a very important stage and affects the reliability of the PID control system. This stage plays a role in determining KP, KI, and KD constants. Currently it has been a lot of PID tuning techniques that have been developed from the Ziegler-Nichols methods. PID Tuning using Internal Model Controller (IMC) by Tustin discrete approached models was used in this study. Open-loop method was used with two variation value of PWM (20% and 80%). The purposes of this study were to determine the PID constants and test those performances using a DC motor. The result of PID tuning process generated two pairs of KP, KI, and KD constants. The first were 0.4013; 0.0988; 0.0176, and the second were 0.2314; 0.0531; 0.044, respectively. The testing results with DC motor showed the performance of the both pairs of PID constants obtained were reliable enough to control motor speed that was characterized by the ability to follow the set-point value that was given and there was no steady state error. There was oscillation at 1500 rpm and 2000 rpm and motor power couldn’t achieve the set-point at 2000 rpm