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All Journal TESLA: Jurnal Teknik Elektro G-Tech : Jurnal Teknologi Terapan Jurnal Informatika dan Teknologi Komputer ( J-ICOM) Malikussaleh Journal of Mechanical Science Technology Brilliance: Research of Artificial Intelligence Jurnal Teknologi
Ghiyalti Novilia
123Program Studi Rekayasa Instrumentasi Dan Kontrol, Jurusan Teknik Elektro, Politeknik Negeri Lhokseumawe, Indonesia
Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mathematics Mechanical Engineering Other

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Optimization of Multi-Loop PI Control for a 6-DOF Robotic Arm Using Looptune in MATLAB/Simulink Yuli Mauliza; Ghiyalti Novilia; M. Basyir; Muhammad Isra
Malikussaleh Journal of Mechanical Science and Technology Vol. 9 No. 2 (2025): Malikussaleh Journal of Mechanical Science and Technology (MJMST)
Publisher : E-Journal Universitas Malikussaleh

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.29103/mjmst.v9i2.25007

Abstract

This study discusses the tuning of a multi-loop control system based on Proportional–Integral (PI) controllers for a six-degree-of-freedom (6-DOF) robotic arm. Each joint is controlled individually but operates in coordination to achieve precise motion. A simultaneous tuning method using the looptune function and the slTuner interface in MATLAB is employed to optimize all six loops simultaneously, considering response time, MIMO stability, and minimal cross-coupling. Simulation results in the Simulink–Simscape model show that this method produces faster, more stable responses with reduced overshoot compared to conventional tuning. The implementation of a 2-DOF controller also eliminates overshoot and improves the performance of the Bicep joint, resulting in smoother and more accurate trajectory tracking.
COMPARATIVE PERFORMANCE ANALYSIS OF SLIDING MODE CONTROL AND FUZZY LOGIC CONTROL FOR TWO-LINK ROBOT ARM CONTROL BASED ON MATLAB SIMULATION Yuli Mauliza; Ghiyalti Novilia; M. Basyir
TESLA: Jurnal Teknik Elektro Vol 28 No 1 (2026): TESLA: Jurnal Teknik Elektro
Publisher : Universitas Tarumanagara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24912/tesla.v28i1.37738

Abstract

This study compares the performance of Fuzzy Logic Control (FLC) and Sliding Mode Control (SMC) in a two-degree-of-freedom (2-DOF) robotic arm system using MATLAB/Simulink simulation. The FLC method was designed using the Mamdani fuzzy approach to provide adaptive and smooth control performance, while the SMC method applied a sliding surface approach to improve system robustness against disturbances and parameter uncertainties. The evaluation process used sinusoidal reference signals on each robot joint to analyze the trajectory tracking capability of both controllers under dynamic operating conditions. Simulation results showed that both methods successfully tracked the reference trajectory and maintained system stability during operation. However, SMC demonstrated superior performance in terms of response speed and tracking accuracy, achieving an overshoot of 0.2%, a settling time of 1 second, and a steady-state error of 0.01. In contrast, FLC produced an overshoot of 2.2%, a settling time of approximately 4.2 seconds, and a steady-state error of 0.025. Overall, SMC provided faster response and higher tracking precision, whereas FLC generated smoother and more stable control behavior for the 2-DOF robotic arm system. These findings indicate that both controllers are suitable for nonlinear robotic applications requiring reliable trajectory tracking performance under varying operating conditions in industrial environments. Abstrak Penelitian ini membandingkan performa Fuzzy Logic Control (FLC) dan Sliding Mode Control (SMC) pada sistem lengan robot dua derajat kebebasan (2-DOF) berbasis simulasi MATLAB/Simulink. FLC dirancang menggunakan metode fuzzy Mamdani untuk menghasilkan kontrol yang adaptif dan respons halus, sedangkan SMC menggunakan pendekatan sliding surface untuk meningkatkan robustitas sistem terhadap gangguan dan ketidakpastian parameter. Pengujian dilakukan menggunakan sinyal referensi sinusoidal pada setiap sendi robot untuk mengevaluasi kemampuan tracking lintasan dari kedua metode pengendalian. Hasil simulasi menunjukkan bahwa FLC maupun SMC mampu mengikuti lintasan referensi dengan baik dan menjaga kestabilan sistem selama proses pengendalian berlangsung. Namun, SMC memberikan performa lebih unggul dibandingkan FLC dalam aspek kecepatan respons dan akurasi tracking. SMC menghasilkan overshoot sebesar 0,2%, settling time selama 1 detik, dan error steady-state sebesar 0,01. Sementara itu, FLC menghasilkan overshoot sebesar 2,2%, settling time sekitar 4,2 detik, dan error steady-state sebesar 0,025. Berdasarkan hasil tersebut, dapat disimpulkan bahwa SMC lebih efektif menghasilkan respons cepat dan akurasi tinggi, sedangkan FLC memberikan respons kontrol yang lebih halus dan stabil pada sistem lengan robot 2-DOF. Penelitian ini diharapkan dapat menjadi referensi dalam pengembangan kendali robot untuk aplikasi yang memerlukan ketelitian tinggi, respons cepat, stabilitas, serta kemampuan tracking lintasan yang optimal pada berbagai kondisi operasi dinamis
Design and Implementation of a Smart Garden System for Monitoring and Automatic Watering of Maidenhair Fern Using the Blynk Platform Ghiyalti Novilia; Yuli Mauliza; Arsy Febrina Dewi; Teuku Afriliansyah
G-Tech: Jurnal Teknologi Terapan Vol 10 No 1 (2026): G-Tech, Vol. 10 No. 1 January 2026
Publisher : Universitas Islam Raden Rahmat, Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.70609/g-tech.v10i1.8824

Abstract

Maidenhair fern (Adiantum tenerum Sw.) is an ornamental plant with high economic value but is highly sensitive to environmental conditions, especially soil moisture, which must be maintained within 50%–80% for optimal growth. Improper cultivation, including poor drainage and fluctuating soil moisture, can cause leaf wilting, root rot, and plant death. This study uses a system design and experimental testing approach to develop a smart garden system for monitoring and automatic watering of maidenhair fern using the Blynk platform. The system integrates an ESP32 microcontroller, soil moisture sensor, relay module, water pump, and Wi-Fi connectivity for real-time monitoring and remote control. Soil moisture conditions were classified as dry (0–49%), moist (50–80%), and wet (80–100%). Results show that the pump activates below 50% and deactivates above 80%, with dry soil (42%–49%) increasing to wet levels (89%–95%) after irrigation. Relay testing confirmed that a high input consistently turns the pump on under dry conditions, while a low input turns it off under moist or wet conditions. Multi-day performance tests demonstrated stable, reliable operation, with real-time data displayed on both LCD and the Blynk application. These findings indicate that the smart garden system effectively regulates soil moisture, simplifies maintenance of maidenhair fern, and provides a practical foundation for IoT-based smart agriculture applications.
Rancang Bangun Sistem Sensor Level Air Nirkabel Berbasis Mikrokontroler untuk Pemantauan Otomatis pada Pengelolaan Air Bersih Masjid Al Bayan Politeknik Negeri Lhokseumawe Aidi Finawan; Yuli Mauliza; Ghiyalti Novilia; Ibnu Khaldun
Jurnal Teknologi Vol 26, No 2 (2026): Agustus 2026
Publisher : Politeknik Negeri Lhokseumawe

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30811/teknologi.v26i2.9810

Abstract

Reliable water-level monitoring in public facilities is essential to support effective water management and ensure the availability of water in storage tanks. This study aims to design and evaluate a wireless water-level monitoring system based on an ESP32 microcontroller and a waterproof JSN-SR04T ultrasonic sensor, implemented at the Al Bayan Mosque, Politeknik Negeri Lhokseumawe. The proposed system adopts a master–slave architecture, in which the ESP32 Slave performs sensor data acquisition and processing, while the ESP32 Master receives and processes measurement data transmitted via Bluetooth. The system was evaluated over a measurement range of 25–200 cm through initial sensor characterization, linear regression-based calibration, water-level measurement testing, and Bluetooth communication performance testing using Packet Delivery Ratio (PDR) and packet loss as evaluation parameters. The results demonstrate that sensor calibration significantly improved measurement accuracy, reducing the Mean Absolute Error (MAE) from 1.811 cm to 0.216 cm and the Root Mean Square Error (RMSE) from 2.035 cm to 0.254 cm, corresponding to improvements of 88.07% and 87.53%, respectively. Following calibration, the sensor exhibited a relative error ranging from 0.00% to 0.60%. Water-level testing produced an MAE of 0.514%, an RMSE of 0.612%, a mean relative error of 1.465%, and a coefficient of determination (R²) of 0.99988. However, the maximum relative error of 6.88% occurred at a low water level of 12.50%. Bluetooth communication testing achieved a PDR of 100% with 0% packet loss up to a distance of 11 m, both under Line-of-Sight (LOS) conditions and with one wall as an obstruction. These results indicate that the proposed system provides accurate water-level measurement and reliable wireless data transmission, making it suitable for real-time water-tank monitoring applications.
Performance Comparison of Fuzzy-PID and MPC for Cascade Water Tank Control Systems Yuli Mauliza; Ghiyalti Novilia; Ibnu Khaldun; Muhammad Azzahari; M. Basyir
Brilliance: Research of Artificial Intelligence Vol. 6 No. 3 (2026): Brilliance: Research of Artificial Intelligence, Article Research August 2026
Publisher : Yayasan Cita Cendekiawan Al Khwarizmi

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.47709/brilliance.v6i3.9541

Abstract

Level and flow control systems are widely used in industrial processes, where poor control performance may cause process instability, energy inefficiency, and reduced product quality. This study aims to design and compare the performance of Model Predictive Control and Fuzzy-PID in a cascade level-flow control system based on models obtained through system identification. An experimental simulation approach was conducted, including system identification, process modeling, controller design, and performance evaluation. Black-box modeling was performed using bump test data processed in the MATLAB System Identification Toolbox, producing level and flow models with average fit estimations of 87.54% and 85.19%, respectively. The identified models were used to develop both controllers. MPC was designed with a prediction horizon of 40, a control horizon of 3, and a sampling time of 0.01 s, while Fuzzy-PID employed a fuzzy inference system to tune PID parameters based on error and change of error. Simulation results show that both controllers achieved the desired setpoint. However, MPC provided superior performance with no overshoot, a settling time of approximately 8 s, and a steady-state error of 0.0001. In contrast, Fuzzy-PID produced 24% overshoot, a settling time of 28 s, and oscillatory responses under disturbances. These results indicate that MPC is more effective and reliable for cascade level-flow control applications in industrial systems.
Analisis Kinerja Kendali Fuzzy PID pada Sistem Pengendalian Level Deaerator Menggunakan Matlab arsy febrina dewi; Yuli Mauliza; Ghiyalti Novilia
Jurnal Informatika dan Teknologi Komputer (J-ICOM) Vol 7 No 2 (2026): Jurnal Informatika dan Teknologi Komputer ( J-ICOM)
Publisher : E-Jurnal Universitas Samudra

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55377/j-icom.v7i2.15355

Abstract

A deaerator is a boiler component responsible for removing oxygen and other gases from the water used to generate steam. Steam is used to heat the water and strip away dissolved gases—such as oxygen (O2) and carbon dioxide (CO2)—that could otherwise cause corrosion within the boiler system. Deaerator control affects both water heating and liquid levels; therefore, it is necessary to develop a simulation system for deaerator level control using MATLAB. The process involves establishing a level setpoint and modeling the deaerator, followed by determining the PID parameters (Kp, Ki, and Kd) and designing the fuzzy controller. Subsequently, simulations are conducted in MATLAB to evaluate system responses, including rise time, settling time, overshoot, and steady-state error. Based on the test results, it can be concluded that both Fuzzy-PID and conventional fuzzy controllers are capable of tracking setpoint changes and maintaining the level at a steady state with near-zero steady-state error. The Fuzzy-PID controller demonstrates a faster response to setpoint changes compared to the conventional fuzzy controller, although it exhibits slightly higher overshoot and undershoot during these transitions. In contrast, the conventional fuzzy controller provides a smoother response with smaller transient deviations but requires more time to reach a steady state.
Co-Authors Afriliansyah, Teuku Aidi Finawan arsy febrina dewi Arsy Febrina Dewi Basyir, M. Ibnu Khaldun Ibnu Khaldun M. Basyir Muhammad Azzahari Muhammad Isra Yuli Mauliza Yuli Mauliza Yuli Mauliza Yuli Mauliza