Articles
<![CDATA[A Substractive Clustering Based Fuzzy Hybrid Reference Control Design for Transient Response Improvement of PID Controller ]]>
<![CDATA[Joelianto, Endra]]>;
<![CDATA[Sitanggang, Parlindungan H.]]>
<![CDATA[ Journal of Engineering and Technological Sciences Vol 41, No 2 (2009) ]]>
Publisher : <![CDATA[ITB Journal Publisher, LPPM ITB ]]>
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DOI: 10.5614/itbj.eng.sci.2009.41.2.6
<![CDATA[The well known PID controller has inherent limitations in fulfilling simultaneously the conflicting control design objectives. Parameters of the tuned PID controller should trade off the requirement of tracking set-point performances, disturbance rejection and stability robustness. Combination of hybrid reference control (HRC) with PID controller results in the transient response performances can be independently achieved without deteriorating the disturbance rejection properties and the stability robustness requirement. This paper proposes a fuzzy based HRC where the membership functions of the fuzzy logic system are obtained by using a substractive clustering technique. The proposed method guarantees the transient response performances satisfaction while preserving the stability robustness of the closed loop system controlled by the PID controller with effective and systematic procedures in designing the fuzzy hybrid reference control system.]]>
<![CDATA[Modeling of Dynamic Responses in Building Insulation ]]>
<![CDATA[Antonyova, Anna]]>;
<![CDATA[Antony, Peter]]>;
<![CDATA[Joelianto, Endra]]>
<![CDATA[ Journal of Engineering and Technological Sciences Vol 47, No 5 (2015) ]]>
Publisher : <![CDATA[ITB Journal Publisher, LPPM ITB ]]>
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DOI: 10.5614/j.eng.technol.sci.2015.47.6
<![CDATA[In this research a measurement systemwas developedfor monitoring humidity and temperature in the cavity between the wall and the insulating material in the building envelope. This new technology does not disturb the insulating material during testing. The measurement system can also be applied to insulation fixed ten or twenty years earlier and sufficiently reveals the quality of the insulation. A mathematical model is proposed to characterize the dynamic responses in the cavity between the wall and the building insulation as influenced by weather conditions.These dynamic responses are manifested as a delay of both humidity and temperature changes in the cavity when compared with the changes in the ambient surrounding of the building. The process is then modeled through numerical methods and statistical analysis of the experimental data obtained using the new system of measurement.]]>
<![CDATA[Modeling, Identification, Estimation, and Simulation of Urban Traffic Flow in Jakarta and Bandung ]]>
<![CDATA[Sutarto, Herman Y.]]>;
<![CDATA[Joelianto, Endra]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 1 (2015) ]]>
Publisher : <![CDATA[Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences ]]>
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DOI: 10.14203/j.mev.2015.v6.57-66
<![CDATA[This paper presents an overview of urban traffic flow from the perspective of system theory and stochastic control. The topics of modeling, identification, estimation and simulation techniques are evaluated and validated using actual traffic flow data from the city of Jakarta and Bandung, Indonesia, and synthetic data generated from traffic micro-simulator VISSIM. The results on particle filter (PF) based state estimation and Expectation-Maximization (EM) based parameter estimation (identification) confirm the proposed model gives satisfactory results that capture the variation of urban traffic flow. The combination of the technique and the simulator platform assembles possibility to develop a real-time traffic light controller. Â ]]>
<![CDATA[Swarm control of an unmanned quadrotor model with LQR weighting matrix optimization using genetic algorithm ]]>
<![CDATA[Joelianto, Endra]]>;
<![CDATA[Christian, Daniel]]>;
<![CDATA[Samsi, Agus]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 11, No 1 (2020) ]]>
Publisher : <![CDATA[Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences ]]>
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DOI: 10.14203/j.mev.2020.v11.1-10
<![CDATA[Unmanned aerial vehicle (UAV) quadrotors have developed rapidly and continue to advance together with the development of new supporting technologies. However, the use of one quadrotor has many obstacles and compromises the ability of a UAV to complete complex missions that require the cooperation of more than one quadrotor. In nature, one interesting phenomenon is the behaviour of several organisms to always move in flocks (swarm), which allows them to find food more quickly and sustain life compared with when they move independently. In this paper, the swarm behaviour is applied to drive a system consisting of six UAV quadrotors as agents for flocking while tracking a swarm trajectory. The swarm control system is expected to minimize the objective function of the energy used and tracking errors. The considered swarm control system consists of two levels. The first higher level is a proportional – derivative type controller that produces the swarm trajectory to be followed by UAV quadrotor agents in swarming. In the second lower level, a linear quadratic regulator (LQR) is used by each UAV quadrotor agent to follow a tracking path well with the minimal objective function. A genetic algorithm is applied to find the optimal LQR weighting matrices as it is able to solve complex optimization problems. Simulation results indicate that the quadrotors' tracking performance improved by 36.00 %, whereas their swarming performance improved by 17.17 %.]]>
<![CDATA[Pemrograman Ladder PLC Pada Otomasi Proses Produksi Bioetanol Berbasis Jala Petri Sinyal Terinterpretasi (JPST) ]]>
<![CDATA[Joelianto, Endra]]>;
<![CDATA[Dananjaya, Alex]]>
<![CDATA[ TEKNIK Vol 41, No. 2 (2020): August 2020 ]]>
Publisher : <![CDATA[Diponegoro University ]]>
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DOI: 10.14710/teknik.v0i0.24638
<![CDATA[Jala Petri sinyal terinterpretasi (JPST) dikenal sebagai salah satu metode formal yang digunakan untuk merancang dan mengevaluasi perilaku sistem otomasi yang dimodelkan sebagai sistem kejadian diskrit. Hubungan antara algoritma kontrol biner yang dibangun dengan proses sekuensial yang ditinjau dapat diperlihatkan dengan menggunakan JPST. Aplikasi diagram JPST pada perangkat keras umum seperti PLC memerlukan suatu cara untuk mengkodekan representasi algoritma kontrol dalam bentuk grafik menjadi program logika ladder. Makalah ini memperlihatkan proses pengubahan algoritma sistem otomasi proses produksi bioetanol yang dibangun dengan menggunakan metode JPST menjadi program logika ladder. Kinerja program ladder yang dihasilkan untuk sistem otomasi proses produksi bioetanol menggunakan PLC mengikuti kinerja dari diagram JPST yang dibuat.]]>
<![CDATA[Modeling, Identification, Estimation, and Simulation of Urban Traffic Flow in Jakarta and Bandung ]]>
<![CDATA[Herman Y. Sutarto]]>;
<![CDATA[Endra Joelianto]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 1 (2015) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2015.v6.57-66
<![CDATA[This paper presents an overview of urban traffic flow from the perspective of system theory and stochastic control. The topics of modeling, identification, estimation and simulation techniques are evaluated and validated using actual traffic flow data from the city of Jakarta and Bandung, Indonesia, and synthetic data generated from traffic micro-simulator VISSIM. The results on particle filter (PF) based state estimation and Expectation-Maximization (EM) based parameter estimation (identification) confirm the proposed model gives satisfactory results that capture the variation of urban traffic flow. The combination of the technique and the simulator platform assembles possibility to develop a real-time traffic light controller. ]]>
<![CDATA[Swarm control of an unmanned quadrotor model with LQR weighting matrix optimization using genetic algorithm ]]>
<![CDATA[Endra Joelianto]]>;
<![CDATA[Daniel Christian]]>;
<![CDATA[Agus Samsi]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 11, No 1 (2020) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2020.v11.1-10
<![CDATA[Unmanned aerial vehicle (UAV) quadrotors have developed rapidly and continue to advance together with the development of new supporting technologies. However, the use of one quadrotor has many obstacles and compromises the ability of a UAV to complete complex missions that require the cooperation of more than one quadrotor. In nature, one interesting phenomenon is the behaviour of several organisms to always move in flocks (swarm), which allows them to find food more quickly and sustain life compared with when they move independently. In this paper, the swarm behaviour is applied to drive a system consisting of six UAV quadrotors as agents for flocking while tracking a swarm trajectory. The swarm control system is expected to minimize the objective function of the energy used and tracking errors. The considered swarm control system consists of two levels. The first higher level is a proportional – derivative type controller that produces the swarm trajectory to be followed by UAV quadrotor agents in swarming. In the second lower level, a linear quadratic regulator (LQR) is used by each UAV quadrotor agent to follow a tracking path well with the minimal objective function. A genetic algorithm is applied to find the optimal LQR weighting matrices as it is able to solve complex optimization problems. Simulation results indicate that the quadrotors' tracking performance improved by 36.00 %, whereas their swarming performance improved by 17.17 %.]]>
<![CDATA[A Substractive Clustering Based Fuzzy Hybrid Reference Control Design for Transient Response Improvement of PID Controller ]]>
<![CDATA[Endra Joelianto]]>;
<![CDATA[Parlindungan H. Sitanggang]]>
<![CDATA[ Journal of Engineering and Technological Sciences Vol. 41 No. 2 (2009) ]]>
Publisher : <![CDATA[Institute for Research and Community Services, Institut Teknologi Bandung ]]>
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DOI: 10.5614/itbj.eng.sci.2009.41.2.6
<![CDATA[The well known PID controller has inherent limitations in fulfilling simultaneously the conflicting control design objectives. Parameters of the tuned PID controller should trade off the requirement of tracking set-point performances, disturbance rejection and stability robustness. Combination of hybrid reference control (HRC) with PID controller results in the transient response performances can be independently achieved without deteriorating the disturbance rejection properties and the stability robustness requirement. This paper proposes a fuzzy based HRC where the membership functions of the fuzzy logic system are obtained by using a substractive clustering technique. The proposed method guarantees the transient response performances satisfaction while preserving the stability robustness of the closed loop system controlled by the PID controller with effective and systematic procedures in designing the fuzzy hybrid reference control system.]]>
<![CDATA[Modeling of Dynamic Responses in Building Insulation ]]>
<![CDATA[Anna Antonyova]]>;
<![CDATA[Peter Antony]]>;
<![CDATA[Endra Joelianto]]>
<![CDATA[ Journal of Engineering and Technological Sciences Vol. 47 No. 5 (2015) ]]>
Publisher : <![CDATA[Institute for Research and Community Services, Institut Teknologi Bandung ]]>
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DOI: 10.5614/j.eng.technol.sci.2015.47.5.6
<![CDATA[In this research a measurement systemwas developedfor monitoring humidity and temperature in the cavity between the wall and the insulating material in the building envelope. This new technology does not disturb the insulating material during testing. The measurement system can also be applied to insulation fixed ten or twenty years earlier and sufficiently reveals the quality of the insulation. A mathematical model is proposed to characterize the dynamic responses in the cavity between the wall and the building insulation as influenced by weather conditions.These dynamic responses are manifested as a delay of both humidity and temperature changes in the cavity when compared with the changes in the ambient surrounding of the building. The process is then modeled through numerical methods and statistical analysis of the experimental data obtained using the new system of measurement.]]>
<![CDATA[On Minimal Second-order IIR Bandpass Filters with Constrained Poles and Zeros ]]>
<![CDATA[Endra Joelianto]]>
<![CDATA[ Journal of Engineering and Technological Sciences Vol. 53 No. 4 (2021) ]]>
Publisher : <![CDATA[Institute for Research and Community Services, Institut Teknologi Bandung ]]>
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DOI: 10.5614/j.eng.technol.sci.2021.53.4.1
<![CDATA[In this paper, several forms of infinite impulse response (IIR) bandpass filters with constrained poles and zeros are presented and compared. The comparison includes the filter structure, the frequency ranges and a number of controlled parameters that affect computational efforts. Using the relationship between bandpass and notch filters, the two presented filters were originally developed for notch filters. This paper also proposes a second-order IIR bandpass filter structure that constrains poles and zeros and can be used as a minimal parameter adaptive digital second-order filter. The proposed filter has a wider frequency range and more flexibility in the range values of the adaptation parameters.]]>
