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Deswen Lumban Gaol
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Analisis Perbandingan Kontrol P, PI, dan PID pada Pengaturan Kecepatan Motor DC Berbasis Simulasi MATLAB Deswen Lumban Gaol; Erianto Rezeki Siregar
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.v3i1.7558

Abstract

DC motor speed control plays a crucial role in industrial applications requiring fast response, high accuracy, and system stability. This study aims to analyze and compare the performance of P, PI, and PID controllers in a DC motor speed regulation system based on MATLAB/Simulink simulation. The system model was designed in a closed-loop configuration with a 100 rad/s set point, and controller parameters were obtained using the auto-tuning feature to ensure optimal operating conditions. The simulation was carried out for 10 seconds without load by evaluating performance parameters including rise time, overshoot, settling time, steady-state value, and steady-state error. The results indicate that the P controller produces a fast initial response but suffers from high overshoot and low stability. The PI controller demonstrates improved stability with reduced overshoot and shorter settling time, although the steady-state value remains slightly below the set point. The PID controller shows the best overall performance by achieving the fastest rise time, the shortest settling time, and an almost zero steady-state error, making it the most effective in achieving fast, stable, and accurate responses. Therefore, the PID controller is recommended as the most suitable control strategy for DC motor speed regulation under no-load conditions.
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 Dian Putra Saragi Eka Dodi Suryanto Erianto Rezeki Siregar Michael Oklando Sihotang