- Nazrul received the B.Eng. degree in Instrumentation Engineering and the M.Eng. degree in Electrical Engineering from... moreNazrul received the B.Eng. degree in Instrumentation Engineering and the M.Eng. degree in Electrical Engineering from Universitas Gadjah Mada, in 1998, and 2001, respectively. He received the PhD degree from the doctoral sandwich program between the electrical engineering graduate program, International School of Engineering, Chulalongkorn University, Thailand and the graduate School of Information Science and engineering, Tokyo Institute of Technology in 2009. During the PhD program, he conducted research in Chulalongkorn University, in Furui Lab (Speech Information Processing and Human Computer System) and in Shinoda Lab (Pattern Recognition and its Application to Real Word), Department of Computer Science, Tokyo Institute of Technology, Japan. His advisors for the PhD program were Assoc. Prof. Dr. Somchai Jitapunkul (Chulalongkorn University) and Prof. Dr. Sadaoki Furui (Tokyo Institute of Technology). Currently, he is an associate Professor, the coordinator of the Intelligent and Embedded System Research Group (InESys), and the head of Computation Laboratory at Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering, Universitas Gadjah Mada. Since 2012, he joined integrated, smart and green building research group (insgreeb). He became a visiting scholar at the machine Learning and Intelligent OptimizatioN (LION) Laboratory, Department of Information Engineering and Computer Science, Trento University, Trento, Italy in November 2013, a visiting scholar at the Instrumentation, Control and Embedded System (ICES) research group, School of Engineering and Digital Arts, University of Kent, Canterbury, United Kingdom in October-November 2011, a research fellow at Department of Control and Computer Engineering, Polytechnic University of Turin, Italy in 2010 and 2011 and a visiting researcher in Shinoda Lab, Tokyo Institute of Technology, Japan in 2009. Nazrul and his team at InESys, UGM were awarded one of the top 10 posters in the Artificial intelligence Innovation Summit (AIIS) 2021. Nazrul was a member of International Speech Communication Association (ISCA) during 2004-2006. He is the member of Indonesian Association of Pattern recognition, Indonesian Society for Soft Computing, Indonesian Artificial Intelligence Society, Association for Smarter Homes & Buildings (ASHB), International building performance simulation association (IBPSA), International Association for Pattern Recognition (IAPR), International Association of Engineers (IAENG), and Institution of Engineers Indonesia (Persatuan Insinyur Indonesia, PII). He chaired the conference on Applied Science for TECHnology inNOVAtion (ASTECHNOVA) 2012 and the 2014 workshop of Indonesian Society of Engineering Physics.
His research interests include artificial intelligences, Internet of Things (IoT), instrumentation, measurements, control, speech processing and recognition, pattern recognition, and their applications such as in industry, medical instrumentation, green building, nuclear reactor etc. Besides Engineering, he is also interested to study about medicine, psychology and management.edit
Viruses can be transmitted in various ways; one spreads through airborne droplets or the touch of multiple objects. This can occur in any area, including the entrance to the house or access to a room or deposit box. The spread of viruses... more
Viruses can be transmitted in various ways; one spreads through airborne droplets or the touch of multiple objects. This can occur in any area, including the entrance to the house or access to a room or deposit box. The spread of viruses that cause diseases like COVID-19 has caused many human casualties, and there is still the possibility of similar conditions appearing in the future. Several things need to be done to reduce the chances of spreading disease due to viruses, including developing contactless security support methods. This paper proposes a security system using hand gesture recognition using squeeze and excitation residual networks (SE-ResNet). This research offers a hand gesture recognition system for an automatic door system using SE-ResNet and the residual network (ResNet).
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OPTIMASI JARINGAN SYARAF TIRUAN UNTÜK KENDALI DAYA REAKTOR RISEI KARTINI DENGAN MODEL REFERENSI LINIER Nazrul Effendy*\ Balza Achmad"*' dan Singgih Hawibowo***' ABSTRACT The control of the power of Kartini... more
OPTIMASI JARINGAN SYARAF TIRUAN UNTÜK KENDALI DAYA REAKTOR RISEI KARTINI DENGAN MODEL REFERENSI LINIER Nazrul Effendy*\ Balza Achmad"*' dan Singgih Hawibowo***' ABSTRACT The control of the power of Kartini research reactor has been ...
Research Interests: Engineering and Medicine
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As a part of its national policy, Indonesia significantly increases its photovoltaics (PV) role in its energy mix. As investment in PV grows significantly, there is also demand to increase benefits in new jobs creation. Meanwhile, the... more
As a part of its national policy, Indonesia significantly increases its photovoltaics (PV) role in its energy mix. As investment in PV grows significantly, there is also demand to increase benefits in new jobs creation. Meanwhile, the dependence on imported components and support for the operation and maintenance of the system is still a big challenge. There is a strong demand in increasing capacity of the national industry to provide support in various aspects. This capability in all parts of the Indonesian PV supply chain needs to be improved. This study explored the opportunity to more intensively integrate the vocational education system into the PV supply chain to answer the problem related to the PV application in Indonesia. The research was focused on the Vocational High School (VHS). The analysis is conducted on various data of the VHS: its number, its spatial distribution, and its program to develop the student’s expertise. The study shows that VHS has opportunities to play a significant role in developing the PV industry in Indonesia. It can be realized systemically not merely for skilled labor provision but also to increase the production capacity of various PV system components.
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IEC 61499 is a new standard for a distributed system at process industry based on event-driven architecture. Even though the adoption is already wide, implementation on signal processing still just a few indeed could not exist e.g. Fast... more
IEC 61499 is a new standard for a distributed system at process industry based on event-driven architecture. Even though the adoption is already wide, implementation on signal processing still just a few indeed could not exist e.g. Fast Fourier Transform (FFT). In this work, FFT is developed based on event-driven architecture. It is implemented the radix-2 FFT and split-radix FFT on IEC 61499 application software, i.e. 4DIAC. As an evaluation of the implementation, an execution time is presented as a measure of performance. The evaluation shows that event-driven based on split-radix FFT show better performance than radix-2 FFT. At length 512 points, split-radix FFT shows fast execution time with a mean value of 6.8 ms. It also has homogeneous execution time with a standard deviation of 2.1 ms and a maximum value of 12 ms.
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Research Interests: Medicine and Gynecology
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Osilasi kontrol loop adalah salah satu masalah yang sering terjadi di proses industri. Osilasi menyebabkan variabel proses tidak dapat dipertahankan pada kondisi yang diinginkan yang akan menyebabkan kerugian finansial pada industri.... more
Osilasi kontrol loop adalah salah satu masalah yang sering terjadi di proses industri. Osilasi menyebabkan variabel proses tidak dapat dipertahankan pada kondisi yang diinginkan yang akan menyebabkan kerugian finansial pada industri. Selama beberapa tahun terakhir sudah banyak penelitian yang dilakukan, dan salah satu pendekatan yang semakin banyak digunakan adalah menggunakan jaringan saraf tiruan (JST). Tulisan ini memberikan gambaran tentang karakterisktik JST dan penerapannya untuk deteksi dan diagnosis osilasi kontrol pada proses industri. Dari beberapa studi yang dipelajari, arsitektur JST yang paling umum dipilih untuk proses deteksi osilasi adalah multilayer perceptron (MLP), convulational neural network (CNN) dan recurrent neural network (RNN). Tiap arsitektur tersebut memiliki karakteristik dan fungsi yang berbeda. MLP memiliki karakteristik yang sederhana, dan fleksibel dibandingkan jaringan lainnya. CNN bekerja sangat baik untuk melakukan teknik deteksi dengan menggunaka...
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As a part of its national policy, Indonesia significantly increases its photovoltaics (PV) role in its energy mix. As investment in PV grows significantly, there is also demand to increase benefits in new jobs creation. Meanwhile, the... more
As a part of its national policy, Indonesia significantly increases its photovoltaics (PV) role in its energy mix. As investment in PV grows significantly, there is also demand to increase benefits in new jobs creation. Meanwhile, the dependence on imported components and support for the operation and maintenance of the system is still a big challenge. There is a strong demand in increasing capacity of the national industry to provide support in various aspects. This capability in all parts of the Indonesian PV supply chain needs to be improved. This study explored the opportunity to more intensively integrate the vocational education system into the PV supply chain to answer the problem related to the PV application in Indonesia. The research was focused on the Vocational High School (VHS). The analysis is conducted on various data of the VHS: its number, its spatial distribution, and its program to develop the student’s expertise. The study shows that VHS has opportunities to play...
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The energy efficiency in the debutanizer reboiler combustion can be monitored from the oxygen content of the flue gas of the reboiler. The measurement of the oxygen content can be conducted in situ using an oxygen sensor. However, soot... more
The energy efficiency in the debutanizer reboiler combustion can be monitored from the oxygen content of the flue gas of the reboiler. The measurement of the oxygen content can be conducted in situ using an oxygen sensor. However, soot that may appear around the sensor due to the combustion process in the debutanizer reboiler can obstruct the sensor’s function. In-situ redundancy sensors’ unavailability is a significant problem when the sensor is damaged, so measures must be made directly by workers using portable devices. On the other hand, worker safety is a primary concern when working in high-risk work areas. In this paper, we propose a software-based measurement or soft sensor to overcome the problems. The radial basis function network model makes soft sensors adapt to data updates because of their advantage as a universal approximator. The estimation of oxygen content with a soft sensor has been successfully carried out. The soft sensor generates an estimated mean square error...
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Deforestation in Indonesia is in a status that is quite alarming. From year to year, deforestation is still happening. The decline in fauna and the diminishing biodiversity are greatly affected by deforestation. This paper proposes a... more
Deforestation in Indonesia is in a status that is quite alarming. From year to year, deforestation is still happening. The decline in fauna and the diminishing biodiversity are greatly affected by deforestation. This paper proposes a bioacoustics-based forest quality assessment tool using Nvidia Jetson Nano and convolutional neural networks (CNN). The device, named GamaDet, is a portable physical product based on the microprocessor and equipped with a microphone to record the sounds of birds in the forest and display the results of their analysis. In addition, a Google Collaboratorybased GamaNet digital product is also proposed. GamaNet requires forest recording audio files to be further analyzed into a forest quality index. Testing the forest recording for 60 seconds at an arboretum forest showed that both products could work well. The GamaDet takes 370 seconds, while the GamaNet takes 70 seconds to process the audio data into a forest quality index and a list of detected birds.
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Abstraks Saat ini sistem keamanan konvensional seperti password atau kartu sudah tidak handal lagi karena keamanan sistem dapat ditembus oleh para pihak yang tidak berwenang menggunakan password atau kartu seseorang. Oleh karena itu... more
Abstraks Saat ini sistem keamanan konvensional seperti password atau kartu sudah tidak handal lagi karena keamanan sistem dapat ditembus oleh para pihak yang tidak berwenang menggunakan password atau kartu seseorang. Oleh karena itu dikembangkan sistem biometrik yang ...
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Microalgae is an attractive feedstock for sustainable biodiesel production. The harvesting step of microalgae needs technology, which saves energy and time. One of the low cost strategies for addressing this problem is the use of... more
Microalgae is an attractive feedstock for sustainable biodiesel production. The harvesting step of microalgae needs technology, which saves energy and time. One of the low cost strategies for addressing this problem is the use of flocculation-sedimentation process as an initial step. The aim of the present study is to evaluate the flocculation-sedimentation of selected microalgae species grown in monoculture (Nannochloropsis sp.) and mixed cultures (South Coast of Yogyakarta) using modified chitosan. The effect of flocculant dosage and sedimentation time that might affect the percentage of microalgae cell removal was investigated. Chitosan has proved to be highly effective for dewatering of the microalgae, Nannochloropsis sp. and Yogyakarta mixed cultures, with the optimum flocculation efficiency reaching over 72.09 % (25 ppm of chitosan dosage; 10 min of sedimentation time) and 87.25 % (25 ppm of chitosan dosage; 30 min of sedimentation time) of biomass removal. The characteristics...
Salah satu komponen penting dalam sistem PLTP adalah sistem Governor Katup Kontrol.Pada sistem PLTP, katup kontrol digunakan untuk mengatur jumlah volume uap di dalam pipa sebelum menuju ke turbin uap. Untuk menentukan besar kecilnya... more
Salah satu komponen penting dalam sistem PLTP adalah sistem Governor Katup Kontrol.Pada sistem PLTP, katup kontrol digunakan untuk mengatur jumlah volume uap di dalam pipa sebelum menuju ke turbin uap. Untuk menentukan besar kecilnya bukaan katup, katup kontrol mendapatkan perintah dari suatu kontroler yang disebut governor. Turbin uap PLTP WW Unit 1 disetel agar selalu pada putaran 3000 rpm, untuk itu perlu dilakukan pengendalian katup kontrolagar aliran uap menuju turbin selalu stabil. Pada penelitian ini dibahas mengenai penyetelan ulang kontroler agar memiliki karakteristik respon sistem yang sesuai dengan tuntutan desain. Penyetelan ulang kontroler dilakukan dengan melakukan variasi autotune, yaitu metode Robust Response Time, Integral absolute Error (IAE), Integral Square Error (ISE), Integral Time Absolute Error (ITAE), danIntegral Time Square Error (ITSE). Dari berbagai metode yang diterapkan, terbukti bahwa penyetelan dengan metode ISE memiliki karakteristik yang paling bai...
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ABSTRAKSI Pada sistem komunikasi gelombang milimeter, peristiwa fading (pelemahan) sangat mempengaruhi penyampaian gelombang elektromagnetik karena dapat menyebabkan sinyal yang diterima terganggu. Untuk mengurangi pengaruh ini, maka... more
ABSTRAKSI Pada sistem komunikasi gelombang milimeter, peristiwa fading (pelemahan) sangat mempengaruhi penyampaian gelombang elektromagnetik karena dapat menyebabkan sinyal yang diterima terganggu. Untuk mengurangi pengaruh ini, maka diperlukan perancangan ...
ABSTRAKSI Photovoltaic (PV) merupakan teknologi konversi dari radiasi matahari menjadi energi listrik secara langsung. Pembangkitan listrik dengan PV telah digunakan pada beberapa rentang daya, dari skala miliwatt pada kalkulator sampai... more
ABSTRAKSI Photovoltaic (PV) merupakan teknologi konversi dari radiasi matahari menjadi energi listrik secara langsung. Pembangkitan listrik dengan PV telah digunakan pada beberapa rentang daya, dari skala miliwatt pada kalkulator sampai dengan tingkatan megawatt pada ...
Utterance-type information has been used been used in spoken dialogue system, speech recognition system and translation machine. In a typical spoken dialogue system, a user can ask question or give information to the system. In another... more
Utterance-type information has been used been used in spoken dialogue system, speech recognition system and translation machine. In a typical spoken dialogue system, a user can ask question or give information to the system. In another side, the spoken dialogue system should be capable of recognizing its user intention to give the correct response to him/her. In this dissertation, the automatic utterance-type recognizer is proposed to distinguish declarative questions from statements in Indonesian speech. Since utterances in these two types have the same words with the same order and differ only in their intonations, their classification requires not only a word recognizer, but also an intonation recognizer. At first, the utterance-type recognizer is designed based on Fujisaki model. The utterance-type recognizer uses a combination of the Fujisaki-model-parameters as the features to recognizt the two utterance type. The best performance of the Fujisaki model based utterance-type rec...
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In this paper, we proposed to use the Fujisaki parameter to distinguish between declarative and interrogative intonation in Indonesian speech. Four combinations of Fujisaki parameter were selected as the features to distinguish between... more
In this paper, we proposed to use the Fujisaki parameter to distinguish between declarative and interrogative intonation in Indonesian speech. Four combinations of Fujisaki parameter were selected as the features to distinguish between declarative and interrogative intonation. The first combination is only the amplitude of last accent command. The second combination consists of the amplitude of last accent command and the magnitude of last phrase command. The third combination consists of Fb, the amplitude of last accent command, and the magnitude of last phrase command. The fourth combination consists of Fb/100, the amplitude of last accent command, and the magnitude of last phrase command. The recognition rates using the neural network were 83.33 %, 90.00 %, 50.00 %, and 96.67 % for each combination. The highest recognition rate was achieved by using Fb/100, the last accent command amplitude and the last phrase command amplitude as its inputs.
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Semakin bertambahnya jumlah penduduk berarti semakin bertambah pula kebutuhan akan energi listrik. Salah satu solusi untuk memecahkannya yaitu dengan membangun PLTP (Pembangkit Listrik Tenaga Panas Bumi) sebagai penyedia energi listrik... more
Semakin bertambahnya jumlah penduduk berarti semakin bertambah pula kebutuhan akan energi listrik. Salah satu solusi untuk memecahkannya yaitu dengan membangun PLTP (Pembangkit Listrik Tenaga Panas Bumi) sebagai penyedia energi listrik ramah lingkungan.Penelitian ini dilakukan untuk mengkaji kinerja dan tingkat kehandalan dari sistem proteksi vibrasi dari turbin unit 2 PLTP Wayang Windu, metode Fault Tree Analysis digunakan untuk mengetahui tingkat kehandalan suatu sistem yang disebut SIL (Safety Integrity Level). PFD (Probability of Failure on Demand) dari masing-masing sub-sistem sensor, sub-sistem logic solver dan sub-sistem aktuator juga dihitung guna menentukan SIL dari sistem tersebut.Menurut aturan IEC 61508, hubungan antara besarnya nilai PFD dengan SIL berbanding terbalik dan terdapat pengklasifikasian untuk mengetahui tingkat kehandalan pada suatu Plant/Kilang. Pada 2 turbin yang ada di PLTP Wayang Windu terdapat perangkat pengaman yaitu TSI (Turbine Supervisory Instrument...
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Osilasi pada sistem yang tidak diharapkan sangat mengganggu terutama untuk efek kenyamanan yang dirasakan oleh manusia. Sistem yang dimodelkan dengan pegas-damper akan mempunyai respon ketika diberi gaya luar. Respon tersebut adalah... more
Osilasi pada sistem yang tidak diharapkan sangat mengganggu terutama untuk efek kenyamanan yang dirasakan oleh manusia. Sistem yang dimodelkan dengan pegas-damper akan mempunyai respon ketika diberi gaya luar. Respon tersebut adalah osilasi dari sistem yang akan membutuhkan waktu untuk mencapai keadaan steady state. Jika respon steady state bisa dipercepat dengan menghilangkan osilasi dari sistem seoptimal mungkin maka getaran dapat direduksi. Hal ini dapat dilakukan dengan pemilihan bahan yang memiliki koefisien pegas-damper yang sesuai. Tentu saja ini akan membutuhkan cost yang tinggi. Sistem pengendali logika Fuzzy akan mengontrol aktuator yang berupa pegas yang memberikan gaya yang berlawanan dengan pegas pada sistem. Respon pada pegas aktuator didasarkan pada respon output sistem yang dijadikan input Fuzzy Logic Controller dan kemudian mengontrol aktuator sehingga akan mendapatkan respon steady state dengan respon waktu yang diharapkan.
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Dalam paper ini, dijelaskan aplikasi Fuzzy Logic Controller (FLC) untuk mengatur pembukaan control valve agar aliran air pada turbin microhidro bisa dijaga konstan. Sistem ini menggunakan sebuah bak penampung untuk menampung air dari... more
Dalam paper ini, dijelaskan aplikasi Fuzzy Logic Controller (FLC) untuk mengatur pembukaan control valve agar aliran air pada turbin microhidro bisa dijaga konstan. Sistem ini menggunakan sebuah bak penampung untuk menampung air dari sungai sebelum mengalir ke microhidro. Variabel yang dikontrol adalah level air pada bak penampung sebelum mengalir ke microhidro. Pada sistem ini yang menjadi variabel terkontrol adalah bukaan valve dan variabel yang dikontrol adalah level air pada bak penampung. Ketika level air pada bak penampung dapat dijaga konstan, maka laju aliran air atau debit dan tekanan yang menuju microhidro juga dapat dijaga konstan. Penerapan FLC ini bertujuan agar saat terjadi perubahan pada ketinggian air baik itu pada sungai maupun bak penampungan, laju aliran air atau debit dan tekanan aliran air ke microhidro dapat dijaga konstan sehingga output energi listrik yang dihasilkan dapat terjaga.
In the process industry, an automation system in the form of a control system is needed. The control strategy that is generally implemented in the process industry is also well-known with the plant-wide control system. The control system... more
In the process industry, an automation system in the form of a control system is needed. The control strategy that is generally implemented in the process industry is also well-known with the plant-wide control system. The control system in the process industry uses certain algorithms installed in each process industry operating unit. In this study, one of the advanced control algorithms called with PI-Fuzzy controller is implemented and evaluated in the plant-wide simulator, namely Tennessee Eastman Process. Two condition modes of the simulation are used in this study, i.e. normal and upset condition with valve stiction problem. The PI-Fuzzy controller shows the effectiveness under these two conditions because the controller can reach the set-point targets in a fast time and produce small MSE of the two final products.
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Saat ini sistem keamanan konvensional seperti password atau kartu sudah tidak handal lagi karena keamanan sistem dapat ditembus oleh para pihak yang tidak berwenang menggunakan password atau kartu seseorang. Oleh karena itu dikembangkan... more
Saat ini sistem keamanan konvensional seperti password atau kartu sudah tidak handal lagi karena keamanan sistem dapat ditembus oleh para pihak yang tidak berwenang menggunakan password atau kartu seseorang. Oleh karena itu dikembangkan sistem biometrik yang berdasarkan pada karakteristik alami manusia yaitu karakteristik fisiologis dan karakteristik perilaku seperti wajah, sidik jari, iris mata, retina mata, DNA, tanda tangan, dan suara, dimana sistem tersebut tidak mudah dicuri atau digunakan oleh pihak yang tidak berwenang. Dalam paper ini akan diusulkan suatu sistem keamanan akses menggunakan pengenalan pola iris mata dengan arsitektur JST yaitu Jaringan Propagasi Balik menggunakan program Matlab. Setelah berhasil dilakukan pengenalan pola iris mata maka dilakukan kontrol yang sesuai, dalam bahasan ini menggunakan mikrokontroler AT Mega 8535 sebagai pemroses data yang masuk untuk mengendalikan otomatisasi buka tutup pintu . Sistem ini dicoba diterapkan dalam sistem keamanan pada...
The concept of the green building is a step to reduce the negative impact of building on its environment. Government building is one of the interesting objects to be investigated for the green building. It is because the government... more
The concept of the green building is a step to reduce the negative impact of building on its environment. Government building is one of the interesting objects to be investigated for the green building. It is because the government building can be used as an example of the application of green building against buildings in the surrounding area. In addition, the government can make the regulations be properly set and monitor the standard of the green building. By using regulations of the Indonesian Government and standards of Green Building Council Indonesia in the preparation of a hierarchy problems, it is expected to produce weight green building priority. Green building criteria consists of the conservation and energy efficiency, water conservation and efficiency, air quality and thermal comfort, and operation management and maintenance. The case studies are conducted in a government building of Boyolali regency. The research findings show that there are differences in results for...
IEC 61499 is a new standard for a distributed system at process industry based on event-driven architecture. Even though the adoption is already wide, implementation on signal processing still just a few indeed could not exist e.g. Fast... more
IEC 61499 is a new standard for a distributed system at process industry based on event-driven architecture. Even though the adoption is already wide, implementation on signal processing still just a few indeed could not exist e.g. Fast Fourier Transform (FFT). In this work, FFT is developed based on event-driven architecture. It is implemented the radix-2 FFT and split-radix FFT on IEC 61499 application software, i.e. 4DIAC. As an evaluation of the implementation, an execution time is presented as a measure of performance. The evaluation shows that event-driven based on split-radix FFT show better performance than radix-2 FFT. At length 512 points, split-radix FFT shows fast execution time with a mean value of 6.8 ms. It also has homogeneous execution time with a standard deviation of 2.1 ms and a maximum value of 12 ms.
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Intisari— Salah satu komponen penting dalam sistem PLTP adalah sistem Governor Katup Kontrol.Pada sistem PLTP, katup kontrol digunakan untuk mengatur jumlah volume uap di dalam pipa sebelum menuju ke turbin uap. Untuk menentukan besar... more
Intisari— Salah satu komponen penting dalam sistem PLTP adalah sistem Governor Katup Kontrol.Pada sistem PLTP, katup kontrol digunakan untuk mengatur jumlah volume uap di dalam pipa sebelum menuju ke turbin uap. Untuk menentukan besar kecilnya bukaan katup, katup kontrol mendapatkan perintah dari suatu kontroler yang disebut governor. Turbin uap PLTP WW Unit 1 disetel agar selalu pada putaran 3000 rpm, untuk itu perlu dilakukan pengendalian katup kontrolagar aliran uap menuju turbin selalu stabil. Pada penelitian ini dibahas mengenai penyetelan ulang kontroler agar memiliki karakteristik respon sistem yang sesuai dengan tuntutan desain. Penyetelan ulang kontroler dilakukan dengan melakukan variasi autotune, yaitu metode Robust Response Time, Integral absolute Error (IAE), Integral Square Error (ISE), Integral Time Absolute Error (ITAE), danIntegral Time Square Error (ITSE). Dari berbagai metode yang diterapkan, terbukti bahwa penyetelan dengan metode ISE memiliki karakteristik yang ...