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STIEBBANK Yogyakarta
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Journal : Journal of Robotics and Control (JRC)

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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.
Co-Authors , Agustiansyah Achmadiyah, Mas Nurul Adam Adam Adi Candra Kusuma, Adi Candra Adi Kusumaningrum Adibah, Almas Affandhie, R Buyung Anugraha Affandhie, R. Buyung Anugrah Agus Pracoyo Agustiar, Evan Ahmad Syaifudin Akmaliyah, Siti Sa’adah Al Afghani, Fajar Al Azhar, Gillang Al Hafizh, Muhammad Diza Al-Azhar, Gillang Altania, Ega Ananda, Wibby Rizky Anggita Wulandari, Anggita Anggraeni, Silvi Antarika, Gde Yasa Ardian Ardian Arham, Muhammad Arisandi, Bustomi Ariyawan Agung Nugroho Arsyka, Tania Asyifa, Asyifa Atthariq Chrisna Subhan Baidhowy, Arief Shofyan BASUKI ARIANTO Bayquni, Bayquni Beauty Anggraheny Ikawanty Betharini, Nuke Christina Ismaniati Darmawan, Muhammad Sigit Dedi Mulyadi Desta Wirnas Dian Wahyuningsih Didy Sopandie Dwi Priyantoro Eko Budi Prasetyo, Eko Estu Miyarso Fahmi, Muhammad Nurul Fahrani, Elyn Faris Rahman Pamungkas Firdiawan Ekaputra Fitri Fitri Hakim, Mukhhammad Luqman Halimah, Nifta Noor HARI MOEKTIWIBOWO Herman Suryokumoro Huda, 2A.M. Miftahul Husda, Baso Riadi Husin, Nur Achmad Hutagaol, Antonio Gogo Ihwanul Aziz Indrawan Nugrahanto, Indrawan Indriyani Indriyani isfandi, Isfandi Izza, Syarifatul Jan Setiawan Kadir, Muh. Ridha Ali Karnama, Maman Mulya Kartaman Ajiriyanto, Maman Khoirunnisaa, Alfina khusnul khotimah Kukuh Setiawan Lestari, Rizca Tri Listiani Listiani Madlazim Madlazim Magdalena Putri Nugrahani Maharani, Nadia Zhafirah Mahmuddin Mahmuddin Mansur, Moh. Safi’i Masrukan Masrukan Mawardi, Amalia Firdaus Mayori, Ersha Muhammad Arif Yudiarto Muhammad Ibnu Sholeh Mulyadi , Dedi Mulyo Prabowo Muntaha, Moh. Mussoddaq, Mochamad N.S., Robby Ghfirly Pramudyo Novi Trilisiana Nugrahanto, Nugrahanto Nurwicaksana, Wahyu Aulia Nurwijayanti Paisal, Amir PERMATASARI, DINDA AYU Prasetyo, Yusuf Eko Pratama, Rizky Wahyu Prayitno, Achmad Faiz Hadi Priyadi, Bambang Putera, Zulmy Faqihuddin Putranto, Dwi Putri, Salsabila Septiani Rahardjo, Ibnu Pudji Rahayu, Rizky Eva Ralindra, Deris Faisa Razzaq, Mochammad Farhan Abdul Retnosary, Rieke Ridho Bayuaji Rivaldi, Rizki Rizky, Adrian Rony, Zahara Tussoleha Rosika Kriswarini Rumayara, Abraham Bernadus Sanjaya, Purba Satriansyah, Muhammad Sebastian, Kevin Izza Sembiring, Rinawati Sendikadisnu, Isposari Septian, Bagas Arya Setyadi, Rafly Agam Setyo Dwi Utomo Setyo, Amin Shandy, Hairus Sidik Nurcahyo Sigit, Rohmad Singgih, Hariyadi Siradjuddin, Indrazno Soeranto Human Sri Ismarwanti, Sri Sudarmanto Jayanegara Sugiyanti, Slamet Sugiyanti, Slamet Suherman, Enjang Suminar, Dewi Ratna Sumirman, Edy Suparno Suparno Surtono, Arif Susintowati Susintowati, Susintowati Suwandi Suwandi Tri Mardji Atmono Trikoesoemaningtyas Triswidrananta, Odhitya Desta Tuti Herawati Usman Sudjadi Utomo, Mugi Satriyo W.TEDJA BHIRAWA Wicaksono, Iqbal Baihaqi Widana, I Dewa Ketut Kerta Widyaningrum, Yekti Wijaya, Gabriel Matius Wulandari, Dwi Ningtyas Yeli, Fitri Yudoprasetyo, Kohar Yulianti, Lastri Yulianto Yulianto Yunus, Muhamad Yasin Yuyun Tajunnisa Zain, Muhammad Ja'farullah