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All Journal E-Dimas: Jurnal Pengabdian kepada Masyarakat SELAPARANG: Jurnal Pengabdian Masyarakat Berkemajuan TELKA - Telekomunikasi, Elektronika, Komputasi dan Kontrol Jurnal Abdimas PHB : Jurnal Pengabdian Masyarakat Progresif Humanis Brainstorming Journal of Robotics and Control (JRC) Jurnal Elkolind : Jurnal Elektronika dan Otomasi Industri Jurnal Pengabdian Polinema Kepada Masyarakat Jurnal Pengabdian Kepada Masyarakat Journal of Mechanical and Electrical Technology Jurnal ELTEK ELPOSYS: Jurnal Sistem Kelistrikan Jurnal Teknik Ilmu dan Aplikasi MULTIPLE: Journal of Global and Multidisciplinary Kohesi: Jurnal Sains dan Teknologi Jurnal ELTEK Jurnal Pengabdian Kepada Masyarakat Taawun: Jurnal Pengabdian kepada Masyarakat
Sidik Nurcahyo
Politeknik Negeri Malang
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Journal : Journal of Robotics and Control (JRC)

 1 
Development of a Digital Autotuning PI for First Order Plant Using RLS-PZC Nurcahyo, Sidik; Fitri, Fitri; Sungkono, Sungkono
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i1.24257

Abstract

The fact that a real plant can be estimated as a first order and its parameters vary due to the environment has motivated this article to discuss the development of a digital autotuning PI for a first-order plant using Recursive Least Square (RLS) and Pole Zero Cancellation (PZC). Although the focus is only on first order, the methods discussed here hopefully become a basis for developing higher-order plants. Firstly, formulas for calculating PI parameters are derived using PZC and tested by simulation to verify their effectiveness. Then it is organized serially with the RLS and digital PI to form an autotuning PI algorithm. The RLS periodically reads plant input-output to estimate plant parameters. These resulting parameters are fed to PZC and finally, PZC outputs are used by digital PI to control the plant. This design is verified by Matlab simulation, where the controller is realized as an m-function containing a program code for RLS, PZC, and digital PI algorithm. The test was conducted by varying plant parameters, including DC gain and time constant. Verifying controller parameters and their response shows that RLS-PZC can effectively re-tune the digital PI parameters, proved by its response having zero steady-state error and its settling time is maintained. The proposed algorithm can also ensure that the PI controller output is always within the specified maximum limits hence the actual response does not deviate from the designed response.
Integration of PID-MRAC and Novel GCC-C2C for Developing Adaptive Deterministic MPPT Nurcahyo, Sidik; Suyono, Hadi; Hasanah, Rini Nur; Muslim, Muhammad Aziz
Journal of Robotics and Control (JRC) Vol. 6 No. 4 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i4.26794

Abstract

This article proposes a new photovoltaic (PV) Maximum Power Point Tracker (MPPT) using PID-MRAC with a novel tracker of Gradual Capacitor-Charging (GCC) and Capacitor-to-Capacitor charge transfer (C2C). The research contribution is omitting the power fluctuation of optimisation-based MPPT and discontinuity or power loss of I-V sweep-based MPPT. GCC regularly and deterministically locates the maximum PV power voltage (Vmpp) by connecting a parallel capacitor to PV only when the PV is isolated from the converter. If one cycle of I-V sweeping is completed, C2C empties the capacitor by transferring its charge to a power supply capacitor to avoid the power-loss problem. A PID and non-inverting buck–boost converter was assigned to regulate the PV output voltage (Vpv) at Vmpp, thus enabling maximum energy harvesting. The Model Reference Adaptive Control (MRAC) adjusts the PID parameters to maintain the MPPT performance. Simulation results show that the MPPT worked well against load and irradiance changes, Iph=2.0A for 0.6s and Iph=3.8A for 1.4s. The GCC-C2C successfully locates Vmpp within 410ms. The PID could regulate Vpv to Vmpp with a settling time of 200ms at the initial stage or less than 10ms at the next stages. The MRAC also successfully tuned the PID parameters during operation. The superiority of this method over the P&O MPPT is its capability to deliver more power at various load power rates. Harvesting efficiency of the proposed MPPT at 5 ohm and 50 ohm loads is 96% and 82%, respectively, while P&O is only 84% and 21%.
Co-Authors Achmad Zaini Adhisuwignjo, Supriatna Adi Candra Kusuma Adi Candra Kusuma, Adi Candra Adibah, Almas Aini, Rosa Fitri Dwi Churil Allif Cendikiawan Almas Adibah Amri Nur Yahya Ananta, Ahmadi Yuli Anindya Dwi Risdhayanti Anita Puput Widiastuti Ardila, Armanu Putra Bhakti Ardinata, Beryl Azhar, Gillang Al Bagas Kurnia, Reza Bahrul Alam Maslyawan Bambang Priyadi Cahya Diyanto, M. Agung Dewatama, Denda Dewi Aprilliana Aprilliana Doddy Maulana Doddy Maulana Dyky Agustiono Lius Edi Sulistio Budi Eka Mandayatma Eka Mandayatma Fafa Darmawansyah Fajar Arofah, Mohammad Fathoni Fathoni Fauziah Sholikhatun Nisa Fikri Nur Hidayah Fitri Fitri Fitri Fitri Fitri Gillang Al Azhar Hadi Suyono Hari Kurnia Safitri Hari Tri Wibowo Hariyadi, Herman Herman Hariyadi Ari Murtono Herwandi Herwandi Hidayah, Rizki Rohmatul Ibramien Yusfitrio Swadiyan Ifrin Sandra Asti Imam Wasita Adi Indrawan Nugrahanto, Indrawan Indrazno Siradjuddin Komarudin Achmad Leonardo Kamajaya Leonardo Kamajaya Lucky Nindya Palupi Luh Putu Ratna Sundari Luqman, Mohammad M. Agung Cahya Diyanto Mandayatma, Eka Maulana, Doddy Mila Fauziyah Mila Fauziyah Mohammad Luqman Mohammad Luqman Muhamad Rifa’i Muhammad Aziz Muslim Muhammad Khairuddin Murtono, Ari Odhitya Desta Triswidrananta Palupi, Lucky Nindya Patma, Tundung Subali PERMATASARI, DINDA AYU Poernamawati, Diana Eka Pratita, Larasati Ambararum Priyadi, Bambang Ratna Ika Putri Rendi Pambudi Wicaksono Restu Kurniawan Reynaldi Mahendra Putra Rifky Surya Nugraha Rini Nur Hasanah Risqi Sugeng Putra Tama Rizal Akbar Mubarok Sembiring, Rinawati Setiawan, Budhy Shandy, Hairus Siradjuddin, Indrazno Siswoko Siswoko Sumarno, Agus Sukoco Heru Sungkono Sungkono Sungkono Sungkono Sungkono Susanto, Izmi Permatasari Susilo, Sugeng Hadi Tarmukan, Tarmukan Triswidrananta, Odhitya Desta Wahono, Wahyu Tri Wahyu Tri Wahono Wibowo, Hari Tri Winarno, Totok Wiradana, Arik Yulianto Yulianto Yulianto Yulianto Zahirulhaq, Zahirulhaq Zhafir Afif Dwi Tanaya Zubaidi Zubaidi