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5. Rendang 'West Sumatran caramelized beef curry‘. In 2011 an online poll by 35,000 people held by CNN International chose Rendang as the number one dish of their 'World’s 50 Most Delicious Foods list. (http://en.wikipedia.org/wiki/Rendang)http://en.wikipedia.org/wiki/Rendang 11 April 20155

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7. Teaching Activity Industrial Automation Workshop PLC-based Automation Microcontroller, Mechatronics/Robotics 11 April 20157

8. Professional Course PLC-based Automation Upgrading course for Vocational High School Teacher. 11 April 20158

9. 9 Professional Course Governor Automatic Control and SCADA OJT for State Electricity Company Employee 11 April 2015

10. Research Activity Decision Making Algorithm on Keeper Robot soccer. Indonesian Symposium on Robot Soccer Competision. ISRSC (2013 ) PC-based identification and PID controller Design for Temperature Process Control Trainer (2010-2011) Implementation of Fuzzy Logic for tuning PI controller in Motor DC speed control system (2009) Design and Implementation of Robust Cascade Controller for Pressure Control Trainer (Feedback 38-714). (2008) 11 April 201510

11. Design and Implemetation of Robust Cascade Controller for Pressure Control Trainer (Feedback 38-714). ABSTRACT This research aim to design and implement cascade controller in pressure control trainer, Feedback 38-714. The device has been equipped with PID controller which is a single-loop controller structure applied widely in industry. The controller is easily implemented and relatively easy in tuning. However, in the other hand, it is unable to reduce load disturbance effect. In process control system, load disturbance becomes a main problem. Cascade control can be used to overcome the problem. To guarantee closed-loop system stability while plant parameters changing happen due to load disturbance, the cascade controller is designed to achieve robust H-infinity criterion. Cascade control design in this research uses classical method approach. The objective design is to guarantee closed-loop system stability and performance while load disturbance occurs. The controller gained is simulated and implemented to the real plant Pressure Control Trainer (Feedback 38-714). The simulation result shown that design of closed-loop system has achieved robust stability criteria based on small gain theorem. So, the system stability can be guaranteed due to plant parameters changing. The implementation result shown that closed-loop system was able to reach set-point while plant parameters changing happen due to load disturbance. Key words : cascade control, H-infinity, pressure control trainer, robust, uncertainty 1111 April 2015

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13. 13 Introduction Wide application of ELECTRO-PNEUMATIK System in Industry Explosive resistant Simplicity Easy Maintenance 11 April 2015 Technology  Performance  Plant parameters changes stability  Load changes stability  Steady-state error ≈ 0  Overshoot ≈ 0

14. 11 April 201514 single loop Structure of PID controller Proportional Integral Differential  Industrial automation standard, because the benefits are easy to implement and relatively easy to be tuned  The disadvantage unable to eliminate disturbances unable to maintain the desired criteria on various system parameter changes. Introduction…

15. 15 Cascade control Structure Effective for disturbances reduction Effective for disturbances reduction Improve response system performance Improve response system performance 11 April 2015 Problem  Plant parameter Changes  Model Uncertainties Solutions Robust Cascade Control

16. 11 April 201516 Research aims:  Design interface circuit for model identification and control  Obtain model of Pressure Control Trainer Feedback 38-714 with model identification  Design cascade controller refer to robust H-infinity criteria  Controller Implementation to Pressure Control Trainer (Feedback 38-714)  Robustness Analysis of closed-loop respon system to plant parameter changes

17. 11 April 201517  Industrial standard component  signal conditioning (output:4-20mA) for each sensors  equipped with Pressure Sensor and Differential pressure sensor Pressure Control Trainer (Feedback 38-714)

18. 11 April 201518 Struktur Kontrol Kaskade Tujuan kontroler kaskade (Luyben,1997): – Mengeliminasi pengaruh gangguan – Meningkatkan performansi sistem kontrol Requirement : inner loop respons >> outer loop respons Master / primary Controller auxiliary / secondary Controller

19. 11 April 201519 Robust Control (1) Adanya ketidak pastian dalam pemodelan Adanya perubahan parameter plant: – Akibat usia pemakaian – Karena variasi operasional Obyektif Kontrol: – Sistem tetap kokoh dalam perubahan dinamika plant – Sistem tetap stabil dalam perubahan parameter plant – Memiliki gain tinggi pada frekuensi rendah setelah itu gain kontroler turun dengan cepat setelah mencapai frekuensi crossover.

20. 11 April 201520 Robust Control (2) Uncertainty: – Additif: Parallel dengan model nominal Untuk uncertainty pada frekuensi tinggi G + ∆ – Multiplicative: Seri dengan model nominal Untuk uncertainty pada frekuensi rendah G ( I + ∆ ) = G + G∆

21. 21 Robust Control (3) 11 April 2015 LFT (linear fractional transformation) – Untuk memodelkan variasi plant sebagai variabel gain linier pada suatu feedback – Untuk memetakan ketidakpastian real plant ke dalam kerangka matematik sistem linier Upper LFT Lower LFT

22. 11 April 201522 Design procedures:

23. 11 April 201523 Load various:  Normal Load: V4 open, V5 open V4 open, V5 open V6 closed V6 closed  Max Load: V4 open, V5 open V4 open, V5 open V6 open V6 open  Min Load: V4 open,V5 closed V4 open,V5 closed V6 closed V6 closed

24. 11 April 201524 Identification dan Controling diagram

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26. 11 April 201526 Model Identification

27. 11 April 2015 27 Laod Model TF Tekanan (pressure) G M1 (s) Laju aliran (flow rate) G M2 (s) Normal Max Min Model Plant TF Table from Identification

28. 11 April 201528 Ketidakpastian Parameter Plant (nominal 1,27) (nominal 38) (nominal 62) (nominal 2.18) (nominal 75) (nominal 3.4)

29. 11 April 201529 State Space Model with Uncertainty (1)  Model for pressure plant

30. 11 April 201530 State Space Model with Uncertainty (2)  Model for flowrate plant

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32. 11 April 201532 Weighting Function (1)  Choosen value refer to open-loop plant Characteristic in Frequency Domain

33. 11 April 201533 Weighting Function (2)  Pressure plant performance WF (w pp )  Flowrate plant performance WF (w pf ) “ Note that finding appropriate weighting functions is a crucial step in robust control design and usually needs a few trials. For complex systems, significant efforts may be required ” (Gu, 2005)

34. 11 April 201534 Augmented plant  Pressure plant  Flowrate plant

35. 11 April 201535 Controller Parameter Primary Controller Secondary Controller

36. 11 April 201536 Result and analysis

37. 37 Control System overall Block Diagram 11 April 2015

38. 38 WF dan closed-loop sensitivity assessment(1) Inner loop ||w pf S||∞ = 0.7531 < 1

39. 11 April 201539 WF dan closed-loop sensitivity assessment (2) Outer loop ||wppS||∞ = 0.9854 < 1

40. 11 April 201540 Simulation Results (1) Inner loop respons with secondary controller

41. 11 April 201541 Simulation Results (2) Outer loop response with primary controller System response with Cascade controller

42. 11 April 201542 Implementation flowchart

43. 43 Implementation Respons System (1) 11 April 2015 Laod = N-Max-NLoad = N-Min-N

44. 11 April 201544 Implementation Respons System(2) Load = N-Max-Min

45. 11 April 201545 Respon inner loop hasil implementasi (1) Laod = N-Max-NLoad = N-Min-N

46. 11 April 201546 Respon inner loop hasil implementasi (2) Load = N-Max-Min

47. 11 April 201547 Conclusion The results of closed-loop design with cascade control in this research, are qualified robust stability and robust performance based on the small gain theorem, so that the stability and performance of the system can be maintained in the event of changes in plant parameters Classical methods approach can be used to design a robust cascade controller. Thus, resolving can use SISO (single input single output) system calculation. Implementation result shows good achievement. Thus, performance robustness and stability robustness can be maintained in the event of changes in plant parameters

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49. 11 April 2015 49 Model Plant Tekanan dan Validasi

50. 11 April 2015 50 Model Plant laju aliran dan Validasi

51. 11 April 2015 51 Small Gain Theorem Asumsikan G1, G2 H ∞ keduanya stabil, bounded-gain transfer function. Jika ||G 1 G 2 || ∞ < 1, sistem closed-loop stabil. Selanjutnya, karena ||G 1 G 2 || ∞ < ||G 1 || ∞ ||G 2 || ∞ lalu jika ||G 1 || ∞ ||G 2 || ∞ < 1, sistem closed-loop stabil

52. 11 April 201552 Vektor NormMatrix Norm

53. 53 “Matlab-Simulink” Simulation 11 April 2015

54. 54 Tabel Performansi Sistem Terhadap Perubahan Beban

55. 11 April 201555 Karakteristik V/I dan I/V konverter

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