<![CDATA[ABSTRAK Motor arus searah (DC) banyak digunakan pada aktuator industri, namun kinerjanya mudah terganggu oleh perubahan beban mendadak sehingga memerlukan sistem kendali yang andal. Penelitian ini membandingkan tiga teknik penalaan pengendali Proportional–Integral–Derivative (PID), yaitu penalaan manual, metode Ziegler–Nichols, dan PID Tuner pada MATLAB/Simulink, untuk pengendalian kecepatan motor DC yang dikenai gangguan beban. Model matematis motor DC diturunkan hingga diperoleh fungsi alih orde dua, kemudian dianalisis secara analitis dan disimulasikan. Karakteristik respons transien, kestabilan melalui kriteria Routh–Hurwitz, galat keadaan tunak, serta ketahanan terhadap gangguan dievaluasi untuk setiap metode. Hasil simulasi menunjukkan ketiga metode menghasilkan sistem stabil dengan galat keadaan tunak mendekati nol. PID Tuner menghasilkan rise time tercepat (0,1105 detik) dan overshoot terkecil (0,92%). Secara keseluruhan, penalaan berbasis PID Tuner direkomendasikan untuk aplikasi yang menuntut respons halus dan tahan gangguan. ABSTRACT Direct current (DC) motors are widely used as industrial actuators, but their performance is easily affected by sudden load changes, which calls for a reliable control system. This study compares three tuning techniques for a Proportional–Integral–Derivative (PID) controller, namely manual tuning, the Ziegler–Nichols method, and the PID Tuner in MATLAB/Simulink, for controlling the speed of a DC motor subjected to a load disturbance. The mathematical model of the DC motor is derived to obtain a second-order transfer function, then analyzed analytically and simulated. The transient response, stability through the Routh–Hurwitz criterion, steady-state error, and disturbance rejection are evaluated for each method. The results show all three methods yield a stable system with a steady-state error approaching zero. The PID Tuner provides the fastest rise time (0.1105 s) and the smallest overshoot (0.92%). Overall, PID Tuner-based tuning is recommended for applications demanding a smooth, disturbance-resistant response.]]>
