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Gs ( s )=1
Gv ( s ) Gp( s)=
Gd ( s )=
Kp
3
(s+1)
Kd
( s+1 )3
Gc ( s )=Kc+ Kc .
1
1
=Kc 1+
TI. s
TI .s
C v (s)
Kd
Gd
=
=
D(s) (s+ 1)3 + K p K c 1+Gv ( s ) Gp ( s ) Gs ( s ) Gc (s)
Kc:
Kd:
Kp:
Ti:
');
');
');
');
Kc , Kd , K p , T I
dan
Variabel
Kc
Nilai
1
Kd
Kp
TI
1
1