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Michael Oklando Sihotang
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Computer Science & IT Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Languange, Linguistic, Communication & Media Social Sciences Other

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Analisis Respons Transien Motor DC terhadap Perubahan Beban Menggunakan Kontrol PI Michael Oklando Sihotang; Takwa Padang; Roihan Parli Lubis; Desman Jonto Sinaga; Arwadi Sinuraya
JURNAL ILMIAH NUSANTARA Vol. 3 No. 1 (2026): Jurnal Ilmiah Nusantara Januari 2026
Publisher : CV. KAMPUS AKADEMIK PUBLISING

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.61722/jinu.v3i1.7422

Abstract

. This study analyzes the transient response of a DC motor to load variations using a Proportional-Integral (PI) controller implemented through MATLAB/Simulink simulation. The DC motor is modeled using a transfer function and tested under three conditions: without controller, with PI controller tuned by PID Tune (PI1 and PI2), and with a step load disturbance applied at seconds. Performance is evaluated based on rise time, peak time, overshoot, settling time, steady-state error, and recovery time. The results show that the system without control is highly sensitive to load changes, exhibiting a large steady-state error and a significant speed drop. The application of PI control improves system stability and accuracy; PI1 reduces the steady-state error to 1.65% (no-load) and 2.71% (with load) with minimal overshoot, while PI2 provides faster response with very low steady-state error (0.28% no-load and 0.27% with load) at the expense of slightly higher overshoot. Overall, PID Tune is effective in generating stable PI parameters, where PI2 achieves the best performance in response speed and accuracy, and PI1 is more favorable in minimizing overshoot.
Perancangan dan Evaluasi Lengan Robot 4-DOF Berbasis ESP32 Dengan Kendali Manual Menggunakan Aplikasi Bluetooth Android Deswen Lumban Gaol; Michael Oklando Sihotang; Albert Sebastian Siahaan; Eka Dodi Suryanto; Dian Putra Saragi
JOURNAL SAINS STUDENT RESEARCH Vol. 4 No. 2 (2026): April
Publisher : CV. KAMPUS AKADEMIK PUBLISING

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.61722/jssr.v4i2.9485

Abstract

The development of robotics and embedded systems has increased the need for accessible learning media to support the understanding of basic control concepts. However, industrial robotic systems are generally expensive and complex, making them less suitable for introductory learning. This study aims to design and evaluate a 4-degree-of-freedom (4-DOF) robotic arm based on ESP32 as a learning medium for basic control systems. The research method includes hardware and software system design, implementation of a Bluetooth-based control system using an Android gamepad interface, and experimental testing. The system applies an incremental control method combined with a Degree of Freedom mechanism to regulate actuator movement gradually. The evaluation covers control mapping accuracy, system responsiveness, angle constraints, startup stability, serial monitoring, and response consistency. The results show that the system successfully executes all control commands with accurate input-output mapping and stable performance. The system maintains actuator movement within safe angle limits and operates without disturbance during startup. In addition, the serial monitoring feature enables real-time visualization of the control process. The findings indicate that the developed system is suitable as a low-cost educational platform for learning basic robotic control concepts due to its simplicity, intuitiveness, and ease of implementation.
Co-Authors Albert Sebastian Siahaan Arwadi Sinuraya Deswen Lumban Gaol Dian Putra Saragi Eka Dodi Suryanto Roihan Parli Lubis SINAGA, DESMAN JONTO Takwa Padang