# 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](https://bcs.wiley.com/he-bcs/Books?action=index\&bcsId=11568\&itemId=1119474221)]
* Katsuhiko Ogata, Modern Control Engineering
* Richard C. Dorf and Robert H. Bishop, Modern Control Systems \[[website](https://www.pearson.com/us/higher-education/program/Dorf-Modern-Control-Systems-13th-Edition/PGM328731.html?tab=resources)]
* Farid Golnaraghi and Benjamin C. Kuo, Automatic Control Systems \[[website](https://www.accessengineeringlibrary.com/content/book/9781259643835)]
* Brian Douglas, The Fundamentals of Control Theory \[[website](https://www.patreon.com/briandouglas)]\[[ebook](https://bit.ly/2XLlAKl)]
* Pao C. Chau, Process Control: A First Course With MATLAB \[[website](https://www.cambridge.org/id/academic/subjects/engineering/chemical-engineering/process-control-first-course-matlab?format=PB)]
* Karl J. Åström and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers \[[website](https://www.cds.caltech.edu/~murray/amwiki/index.php?title=Main_Page)]
* R.V. Dukkipati, Analysis and Design of Control Systems using MATLAB
* [Ricone Website](https://ricopic.one/control/)

## Software

* [GNU Octave](https://www.gnu.org/software/octave/index)
* [Online Octave](https://octave-online.net/)
* [Matlab](https://www.mathworks.com/products/matlab.html)

## Online Course

* [Umich Control Tutorials](https://ctms.engin.umich.edu/CTMS/index.php?aux=Home)

## Online Video Course

* [Brian Douglas Youtube Control System Lectures](https://www.youtube.com/user/ControlLectures/playlists)
* [The Ryder Project Control Lectures](https://www.youtube.com/playlist?list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-)

## Kuliah

### Pekan-1

* Pendahuluan
* Steady State Error
* Video Pendukung
  * [Final Value Theorem and Steady State Error Brian Douglas](https://www.youtube.com/watch?v=PXxveGoNRUw\&list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk\&index=15)
  * [Recap of Steady-State Error The Ryder Project](https://www.youtube.com/watch?v=D1SAPMJTImU\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=33)
  * [Steady-State Error #1, using Error Constants The Ryder Project](https://www.youtube.com/watch?v=Idk9OkB2fuY\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=34)
  * [Steady-State Error #1, using Final Value Theorem The Ryder Project](https://www.youtube.com/watch?v=ZoQ7lj2bdLo\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=35)
  * [Steady-State Error #2, using Error Constants The Ryder Project](https://www.youtube.com/watch?v=AQNk2bydOY4\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=36)
  * [Finding Requirements for SSE The Ryder Project](https://www.youtube.com/watch?v=dJcooAEmOds\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=37)

### Pekan-2

* Analisis Kestabilan Routh Hurwitz
* Video Pendukung
  * [Introduction to System Stability and Control Brian Douglas](https://www.youtube.com/watch?v=uqjKG32AkC4\&list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk\&index=16)
  * [Stability of Closed Loop Control Systems Brian Douglas](https://www.youtube.com/watch?v=yf09OrHa520\&list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk\&index=17)
  * [Routh-Hurwitz Criterion, An Introduction Brian Douglas](https://www.youtube.com/watch?v=WBCZBOB3LCA\&list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk\&index=18)
  * [Routh-Hurwitz Criterion, Special Cases Brian Douglas](https://www.youtube.com/watch?v=oMmUPvn6lP8\&list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk\&index=19)
  * [Routh-Hurwitz Criterion, Beyond Stability Brian Douglas](https://www.youtube.com/watch?v=wGC5C_7Yy-s\&list=PLUMWjy5jgHK1NC52DXXrriwihVrYZKqjk\&index=20)
  * [Recap of Stability The Ryder Project](https://www.youtube.com/watch?v=TAEDUz5lGGw\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=29)
  * [Stability Example #1 The Ryder Project](https://www.youtube.com/watch?v=wqJX0VatZzw\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=30)
  * [Stability Example #2 The Ryder Project](https://www.youtube.com/watch?v=wUhMBZSLwTI\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=31)
  * [Stability Example #3 The Ryder Project](https://www.youtube.com/watch?v=Q0ANlwI87NA\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=32)
* Octave

```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](https://www.youtube.com/watch?v=CRvVDoQJjYI\&list=PLUMWjy5jgHK3-ca6GP6PL0AgcNGHqn33f\&index=1)
  * [Brian Douglas - Sketching Root Locus Part 1](https://www.youtube.com/watch?v=eTVddYCeiKI\&list=PLUMWjy5jgHK3-ca6GP6PL0AgcNGHqn33f\&index=2)
  * [Brian Douglas - Sketching Root Locus Part 2](https://www.youtube.com/watch?v=jb_FiP5tKig\&list=PLUMWjy5jgHK3-ca6GP6PL0AgcNGHqn33f\&index=3)
  * [The Ryder Project - Recap of Root Locus Diagrams](https://www.youtube.com/watch?v=vzH0vdprs58\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=38)
  * [The Ryder Project - Drawing Root Locus #1](https://www.youtube.com/watch?v=uSyzGsnMK28\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=39)
  * [The Ryder Project - Drawing Root Locus #2](https://www.youtube.com/watch?v=K19YgVJVP54\&list=PLlCDw0ApIeDEOaY5fZHWAL4GNSiZ2IWG-\&index=40)
* Plot root locus di Octave atau Matlab

```octave
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](https://www.youtube.com/watch?v=NMpmb0ihoFo\&list=PLUMWjy5jgHK3-ca6GP6PL0AgcNGHqn33f\&index=4)
  * [Designing a Lag Compensator with Root Locus Brian Douglas](https://www.youtube.com/watch?v=vXwOzDs5xKY\&list=PLUMWjy5jgHK3-ca6GP6PL0AgcNGHqn33f\&index=5)
  * [Root Locus Plot: Common Questions and Answers Brian Douglas](https://www.youtube.com/watch?v=WLBszzT0jp4\&list=PLUMWjy5jgHK3-ca6GP6PL0AgcNGHqn33f\&index=6)
  * [Gain a better understanding of Root Locus Plots using Matlab Brian Douglas](https://www.youtube.com/watch?v=pG3_b7wuweQ\&list=PLUMWjy5jgHK3-ca6GP6PL0AgcNGHqn33f\&index=7)

### Tugas

* Persiapan
  * Silakan presensi dulu di Eldiru pada tanggal 26 Desember
  * Akses situs [Interactive Course for Control Theory](https://icct.riteh.hr/hub/login)
  * Buat akun ICCT, cek email untuk mendapatkan username dan password
  * Login ke [Interactive Course for Control Theory](https://icct.riteh.hr/hub/login)
  * Untuk mempermudah silakan akses [video berikut](https://drive.google.com/file/d/19T4VmsvNd7Swl5SyaDELVoFXkNYOAzbx/view)
* 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](https://en.wikipedia.org/wiki/Half-power_point)


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