MK Sistem Kendali Lanjut

MK Sistem Kendali Lanjut

• Kode: TKE193154
• SKS: 3

• Jadwal 2020

  • TKE193154 Sistem Kendali Lanjut A JUMAT 13:20 - 15:50 GEDUNG TEKNIK E 204 - 15 mhs

Referensi

• Norman S. Nise, Control Systems Engineering [website]
• Katsuhiko Ogata, Modern Control Engineering
• Richard C. Dorf and Robert H. Bishop, Modern Control Systems [website]
• Farid Golnaraghi and Benjamin C. Kuo, Automatic Control Systems [website]
• Brian Douglas, The Fundamentals of Control Theory [website][ebook]
• Pao C. Chau, Process Control: A First Course With MATLAB [website]
• Karl J. Åström and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers [website]
• R.V. Dukkipati, Analysis and Design of Control Systems using MATLAB
• Ricone Website

Software

• GNU Octave
• Online Octave
• Matlab

Online Course

• Umich Control Tutorials

Online Video Course

• Brian Douglas Youtube Control System Lectures
• The Ryder Project Control Lectures

Kuliah

Pekan-1

• Pendahuluan
• Steady State Error

• Video Pendukung

  • Final Value Theorem and Steady State Error Brian Douglas
  • Recap of Steady-State Error The Ryder Project
  • Steady-State Error #1, using Error Constants The Ryder Project
  • Steady-State Error #1, using Final Value Theorem The Ryder Project
  • Steady-State Error #2, using Error Constants The Ryder Project
  • Finding Requirements for SSE The Ryder Project

Pekan-2

• Analisis Kestabilan Routh Hurwitz

• Video Pendukung

  • Introduction to System Stability and Control Brian Douglas
  • Stability of Closed Loop Control Systems Brian Douglas
  • Routh-Hurwitz Criterion, An Introduction Brian Douglas
  • Routh-Hurwitz Criterion, Special Cases Brian Douglas
  • Routh-Hurwitz Criterion, Beyond Stability Brian Douglas
  • Recap of Stability The Ryder Project
  • Stability Example #1 The Ryder Project
  • Stability Example #2 The Ryder Project
  • Stability Example #3 The Ryder Project
• Octave

equ=[1 2 3] %characteristic equation polynomial
roots(equ)

Pekan-3

• Root Locus (Tempat Kedudukan Akar)

• Video Pendukung:

  • Brian Douglas - The Root Locus Method - Introduction
  • Brian Douglas - Sketching Root Locus Part 1
  • Brian Douglas - Sketching Root Locus Part 2
  • The Ryder Project - Recap of Root Locus Diagrams
  • The Ryder Project - Drawing Root Locus #1
  • The Ryder Project - Drawing Root Locus #2
• Plot root locus di Octave atau Matlab

pkg load control
num=[1] %numerator
den=[1 2 3] %denumerator
sys=tf(num,den) %transfer function
rlocus(sys)

Pekan-4

• Desain Sistem Kendali dengan Root Locus

• Video Pendukung:

  • Designing a Lead Compensator with Root Locus Brian Douglas
  • Designing a Lag Compensator with Root Locus Brian Douglas
  • Root Locus Plot: Common Questions and Answers Brian Douglas
  • Gain a better understanding of Root Locus Plots using Matlab Brian Douglas

Tugas

• Persiapan

  • Silakan presensi dulu di Eldiru pada tanggal 26 Desember
  • Akses situs Interactive Course for Control Theory
  • Buat akun ICCT, cek email untuk mendapatkan username dan password
  • Login ke Interactive Course for Control Theory
  • Untuk mempermudah silakan akses video berikut

• Latihan Jupyter Notebook di ICCT

  • Anda akan berinteraksi dengan Jupyter Notebook di ICCT
  • Klik folder ICCT pada Jupyter Notebook, lalu klik Table-of-Contents-ICCT.ipynb
  • Klik kanan, open di new tab file Link 1.1.1 Complex Numbers in Cartesian Form di folder 1.1 Complex Numbers
  • Anda berada di Jupyter Notebook M-01_Complex_numbers_Cartesian_form.ipynb
  • Pilih menu Kernel lalu Restart and Run All
  • Silakan baca Notebook-nya, baca penjelasan atau penugasaannya.
  • Lalu anda ubah nilai bilangan kompleksnya, tekan Plot z1 atau Plot z2
  • Lalu anda variasikan operasinya seperti Add, Substract dll.
  • Anda bisa unduh atau screenshoot citranya.
  • Pilih menu Kernel lalu Shutdown untuk mematikan Jupyter Notebook.

• Tugas (dengan waktu 2 pekan)

  • Sesuai dengan distribusi (terlampir di Eldiru), lakukan hal sebagai berikut:
  • Jalankan berkas Jupyter Notebook sebagaimana yang didistribusikan kepada anda.

  • Untuk setiap berkas Jupyter Notebook buat laporan mini dalam berkas .docx atau .odt yang terdiri dari:

    • Judul, disertai penjelasan (dalam terjemah bahasa Indonesia) dari berkas Jupyter Notebook. (Kode Python pada Jupyter Notebook tak perlu disertakan.)
    • Pembahasan. Pembahasan ringkas dari aktivitas yang anda lakukan, jika perlu lengkapi unduhan gambar (screenshot).
  • Simpan setiap berkas dalam nama NIM-TugasXXX.docx misalnya H1A018091-Tugas385.odt. Gabungkan ketiga berkas penugasan dalam file .zip lalu unggah ke laman Assignment di Eldiru.

Istilah Sistem Kendali

• Bandwidth and 3dB. The bandwidth of a band pass filter is the frequency range that is allowed to pass through with minimal attenuation. The frequency at which the power level of the signal decreases by 3 dB from its maximum value is called the 3 dB bandwidth. A 3 dB decrease in power means the signal power becomes half of its maximum value. This occurs when the output voltage has dropped to $1/{\sqrt{2}}$ (~0.707) of the maximum output voltage and the power has dropped by half (since $P=V^2/R$. Exact: $20\\log _{10}\left({\tfrac {1}{\sqrt {2}}}\right)\approx -3.0103\\ \mathrm {dB}$
• Half-power point - Wikipedia