%Shabirin Amin Tamanna_082011733017

%Zeigler Nichols
Dibuat rancangan sistem kontrol motor DC menggunakan metode ZN sesuai dengan syarat yang diberikan. Diketahui K =
1.53, T = 0.0272, setpoint 0.7854 rad, dan periode 10 s
Kc = 2.5500
clear
all;
Ti K =
= (2*K)/Tc
1.53;
Ti = 15.3000
T = 0.0272;
Td
R == 0.0383
Td = (K*Tc)/8
deg2rad(45);
T0 = 10;
qubesim = sim('Zieger.slx',20);
tetasp =
qubesim.ZieglerNichols(:,2); teta
= qubesim.ZieglerNichols(:,3); t =
qubesim.ZieglerNichols(:,1);
plot(t,tetasp,t,teta)
grid on
xlabel('Time [sec]')
ylabel('Posisi Motor
[rad]') ylim([-1.25 1.25])

1
 R = 0.7854
%Direct
Syntesis clear
To = 10;
all;
Tc = 0.1;
K = 1.53;
Kc = (1/K)*(((3*Tc)*T)/(Tc^3))
T = 0.0272;
Kc = 5.3333
Ti = 0.3000
Ti = 3*Tc
Td = ((3*(Tc^2)*T)+(3*Tc*T)-(Tc^3)+T)/(3*Tc*T)
Td = 4.3108

qubesim = sim('DirectSynthesis.slx',20); tetasp = qubesim.DirectS(:,2);

teta = qubesim.DirectS(:,3); t = qubesim.DirectS(:,1);

2
plot(t,tetasp,t,teta) grid on
xlabel('Time [sec]') ylabel('Posisi Motor [rad]') ylim([-1.25 1.25])
legend('Setpoint','Posisi motor')

R = 0.7854
%Internal Model
Control clear all;
To = 10; %satuan s, periode
K = 1.53;
setpoint Tc = 0.1; %time constant
T = 0.0272;
closed loop Kc = (1/K)*(((2*Tc)
R = deg2rad(45)
Kc = 14.8497
Ti = 0.2272
Ti = ((2*Tc)+T)
Td = ((2*Tc*T)/((2*Tc)+T))

3
Td = 0.0239

qubesim =
sim('InternalModelControl.slx',20); tetasp
= qubesim.IMC(:,2);
teta =
qubesim.IMC(:,3); t =
qubesim.IMC(:,1);
plot(t,tetasp,t,teta)
grid on
xlabel('Time [sec]')
ylabel('Posisi Motor