Motor DC telah digunakan secara luas pada aplikasi di industri, terutama pada sistem penggerak. Pengendali yang umum digunakan untuk kendali kecepatan motor DC adalah PID Ziegler Nichols, namun menghasilkan overshoot dan isyarat kendali cukup tinggi dan menyebabkan lonjakan sesaat arus mula-mula (starting current) motor DC di keadaan transien dan mengakibatkan motor DC akan cepat rusak. Oleh karena itu, tujuan penelitian ini adalah merancang metode penentuan nilai parameter PID agar menghasilkan overshoot, settling time, dan isyarat kendali yang cukup minimum pada keadaan transien. Pada penelitian ini, sistem loop tertutup terdiri dari pengendali dan plant. Pengendali berupa pengendali PID dan I-PD serta Plant berupa modul motor DC ES151 buatan Feedback. Sistem loop tertutup akan dimodelkan ke dalam bentuk persamaan ruang keadaan menggunakan metode PID output feedback untuk memperoleh matrik sistem loop tertutup. Persamaan polinomial karakteristik sistem loop tertutup menggunakan pendekatan polinomial ITAE yang dimodifikasi dengan suatu polinomial orde satu untuk meminimalkan overshoot pada tanggapan step. Metode yang diusulkan akan dibandingkan dengan PID Ziegler Nichols dan PID berbasis spesifikasi kinerja transien. Berdasar hasil simulasi dan eksperimen pada keadaan tanpa beban, kendali kecepatan motor DC ES151 menggunakan pengendali PID berbasis polinomial ITAE l = 0,85 menunjukkan kinerja cukup baik pada keadaan transien, dan pada keadaan diberikan beban, pengendali PID berbasis polinomial ITAE l = 0,95 menunjukkan kinerja cukup baik pada keadaan transien. Namun, pada keadaan terjadi gangguan, PID Ziegler Nichols memilki kemampuan cukup baik dalam menekan gangguan. Pengendali I-PD berbasis polinomial ITAE l = 1 memiliki kinerja kecepatan cukup baik, namun energinya cenderung besar. Jadi, pada keadaan transien, PID berbasis polinomial ITAE menunjukkan kinerja cukup baik dibandingkan pengendali yang lain. Kata Kunci: Motor DC, PID, I-PD, Ziegler Nichols, PID Output Feedback, Polinomial ITAE

DC motors have been widely use in industry, especially in drive systems. One of the main parameters in drive system is speed. Commonly use controller for speed control is PID controller tuned according to the Ziegler Nichols method, however, it produces high percent overshoot dan control signal that cause saturation in the actuator and abrupt change in starting current of DC motor at the transient state and the DC motor will be broken. Therefore, the aim of this research is to design a method to determine the parameters of PID in order to have step response with minimum overshoot, settling time, and control signal at the transient state. In this research, the closed loop system consists of controllers and plant. The controllers are PID and I-PD controller, and the plant is a DC motor module ES151 Feedback. The closed loop system is modeled into state space form by using PID output feedback method in order to obtain the matrix of the closed loop system. The characteristic polynomial of the closed loop system is approached with the modified ITAE polynomials. These ITAE polynomials is added with a first order system in order to reduce the overshoot of the step response. The proposed methods are compared with Ziegler Nichols based PID controller and transient specification performance based PID controller. In simulation and experiment results of DC motor speed control in condition without load or disturbance, ITAE polynomial based PID controller with l = 0,85 has sufficient performance at the transient state. In condition with load, ITAE polynomial based PID controller with l = 0,95 has sufficient performance at the transient state, however, in condition with disturbance, Ziegler Nichols has good disturbance rejection compared to other controllers. ITAE polynomial based I-PD has sufficient speed performance, but its energy tends to high. Thus, ITAE polynomial based PID controller has sufficient performance at the transient state compared to other controllers. Keywords: DC Motor, PID, I-PD, Ziegler Nichols, PID Output Feedback, ITAE Polynomials

Kata Kunci : Motor DC, PID, I-PD, Ziegler Nichols, PID Output Feedback, Polinomial ITAE