K/(T1s + 1)(T2s + 1)(T3s +1) = K1/(S+1/T1) + K2/(S+1/T2) + K3/(S+1/T3)

K1 =KT1/{T1(T1-T2-T3)+T2T3} yo = 40 xo = 45.6 K= 0.9

K2 =KT2/{T2(T2-T1-T3)+T1T3} y' = 50 xss = 54.6 T= 16.8
K3 =KT3/{T3(T3-T1-T2)+T1T2} Y = 10 X=9 t= 1.8

x25 = 47.85 t25 = 6.7

T1 = 1.3 K1 = -0.094968 x75 = 52.35 t75 = 25.1
T2 = 0.5 K2 = 0.034722
T3 = 16.7 K3 = 0.060245 Gunakan interpolasi untuk menghitung t25 dan t75:
Contoh:
t x(t)
t x(t) x model 6 47.6
0 45.6 44.6 9 48.7
3 46.3 46.2
6 47.6 47.6 Berapa t saat x(t) = 47.85
9 48.7 48.7 t = 18+(51.4-51.2)*(21-18)/(51.7-51.2)
12 49.7 49.7 t = 6.681818
15 50.5 50.5
18 51.2 51.2
21 51.7 51.7
24 52.2 52.2 55.0
27 52.6 52.6
54.0
30 52.9 52.9
33 53.2 53.2 53.0
36 53.4 53.4 52.0
39 53.6 53.6
51.0
42 53.8 53.8
45 53.9 53.9 50.0
48 54.0 54.0
49.0
51 54.1 54.1
54 54.2 54.2 48.0
57 54.3 54.3 47.0
60 54.3 54.3
63 54.4 54.4 46.0

66 54.4 54.4 45.0

69 54.4 54.4
44.0
72 54.5 54.5 0 10 20 30 40 50 60 70 80 90 100
75 54.5 54.5
78 54.5 54.5
81 54.5 54.5
84 54.5 54.5
87 54.5 54.5
 90 54.6 54.6
93 54.6 54.6
96 54.6 54.6
99 54.6 54.6
102 54.6 54.6
105 54.6 54.6
108 54.6 54.6
111 54.6 54.6
114 54.6 54.6
117 54.6 54.6
120 54.6 54.6
 ZN CC Kriteria Minimum ITAE (Servo)
PI PID PI PID PI
Kp = 9.333 12.444 Kp = 9.426 14.105 Kp = 5.037
Ti = 5.994 3.600 Ti = 4.898 4.240 Ti = 16.596
Ki = 1.557 3.457 Ki = 1.924 3.326 Ki = 0.304
Td = - 0.900 Td = - 0.642 Td = -
Kd = - 11.200 Kd = - 9.056 Kd = -
Kp(1 + 1/Ti.s + Td.s) = Kp + (Kp/Ti)/s + (Kp.Td)s = Kp + Ki/s + Kd.s
Ki = Kp/Ti
Kd = Kp.Td 22.4 9.055909

t x(t)
24 52.2
27 52.6

Berapa t saat x(t) = 52.35

t = 27+(45.75-45.5)*(30-27)/(45.9-45.5)
t = 25.1

Column B
Column C

0 70 80 90 100 110 120 130

Minimum ITAE (Servo) Kriteria Minimum ITAE (Regulator)
PID PI PID
7.239 Kp = 8.462 12.502
21.532 Ti = 5.458 3.838
0.336 Ki = 1.550 3.257
0.650 Td = - 0.561
4.703 Kd = - 7.009

4.70286 7.008669