Boy Putra Ramanda (2014) DESAIN AKSI KENDALI PID PADA PERMUKAAN LUNCUR DECOUPLE SLIDING MODE CONTROLLER PADA SISTEM NON LINIER MULTIVARIABEL CONTINUOUS STIRRED TANK REACTOR (CSTR). Skripsi thesis, Universitas Islam Negeri Sultan Syarif Kasim Riau.

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Abstract

These study proposed of level controlling and concentrate on non- linear multivariable CSTR systems . The main problem was the presence of the coupled system and the Error Steady State ( ESS ) which caused of system instability . The problem of coupled system has been solved with decouple design . Meanwhile, the problems of steady-state error ( ESS ) was completed with the election of a sliding mode controller ( SM ) . The selection of sliding mode controllers based on their solidity toward interference . However , the sliding mode controller has the disadvantage which was chattering that caused the Error Steady State. To overcome these shortcomings, the PID control action was designed on a sliding surface of sliding mode control. From the research results obtained concluded that the sliding mode controller with PID sliding surface could reduce the ESS from -0.0002 to -0.0200 in level and 0.0106 to 0,0008 in concentration .Keywords : Chattering , CSTR , Steady State Error , PID , Sliding Mode .

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