DC Motor Speed Control Using Hybrid PID-Fuzzy with ITAE Polynomial Initiation


Hari Wibawa(1), Oyas Wahyunggoro(2*), Adha Imam Cahyadi(3)

(1) Universitas Gadjah Mada
(2) Universitas Gadjah Mada
(3) Universitas Gadjah Mada
(*) Corresponding Author


DC motors are widely applied in industrial sector, especiallyprocesses of automation and robotics. Given its role in the sector, DC motor operation needs to be optimized. One of optimization steps is controlling speed using several control methods, for example conventional PID methods, PID Ziegler Nichols, PID based on ITAE polynomials, and Hybrid PID-Fuzzy. From these methods, Hybrid PID-Fuzzy was chosen as a method to be proposed in this paper because it can anticipate shortcomings of PID controllers and fuzzy controllers so as to produce system responses that are fast and adaptive to errors. This paper aimed to design a Hybrid PID-Fuzzy system based on ITAE polynomials (Hybrid-ITAE), to analyze its performance parameters values, and tp compare Hybrid-ITAE performance with conventional PID method. Working parameters being reviewed include overshoot, rise time, settling time, and ITAE. First of all, JGA25-370 DC motor was modeled in a form of a third order transfer function equation. Based on the transfer function, PID parameters were calculated using PID Output Feedback and ITAE polynomial methods. The best ITAE polynomial PID controllers were then be combined with a Fuzzy Logic Controller to form a Hybrid-ITAE system. Simulation and experimental stages were carried out in two conditions, namely no load and loaded. Simulation and experimental results showed that Hybrid-ITAE (l = 0.85) was the best controller for no-load simulation conditions. For loaded simulation Hybrid-ITAE (l=1) was a better controller. In no-loads experiment, the best controller was Hybrid PID-Ziegler Nichols, while for loaded condition the best controller was Hybrid PID-Ziegler Nichols.


PID, Hybrid PID-Fuzzy, ITAE Polynomials, DC motors.

Full Text:



C.T. Kilian, Modern Control Technology: Components And Systems, 2nd ed. Singapore: Delmar Publisher, 2006.

K. Ogata, Modern Control Engineering, 5th ed. Upper Saddle River, USA: Prentice Hall, 2010.

J.C. Basilio and S.R. Matos, “Design of PI and PID Controllers with Transient Performance Specification,” IEEE Transactions on Education, Vol. 45, No. 4, pp. 364–370, 2002.

O. Wahyunggoro and N. Saad, “Development of Fuzzy-Logic-Based Self Tuning PI Controller for Servomotor,” 2008 10th International Conference on Control, Automation, Robotics and Vision (ICARCV 2008), 2008, pp. 1545–1550.

H. Christanto, “Optimasi Kendali Kecepatan Motor DC pada Keadaan Transien Menggunakan Pengendali PID Berbasis Polinomial ITAE”, Thesis, Universitas Gadjah Mada, Yogyakarta, Indonesia, 2014.

L.X. Wang, A Course in ’Fuzzy A Course in Fuzzy Systems and Control, Upper Saddle River, USA: Prentice Hall, 1997.

K.M. Passino and S. Yurkovich, Fuzzy Control, 1st ed. Menlo Park, USA: Addison Wesley Publishing Company, 1997.

A.A. Khan and N/ Rapal, “Fuzzy PID Controller: Design, Tuning and Comparison with Conventional PID Controller,” 2006 IEEE International Conference on Engineering of Intelligent Systems, 2006, No. 1, pp. 1–6.

D. Graham and R.C. Lathrop, “The Synthesis of Optimum Transient Response: Criteria and Standard Forms,” Transactions of the American Institute of Electrical Engineers, Part II: Applications and Industry, Vol. 72, No. 5, pp. 273–288, 1953.

N.S. Nise, Control Systems Engineering, 7th ed. Hoboken, USA: Wiley, 2015.

L. Ljung, System Identification Toolbox User’s Guide R2015, How to Contact MathWorks. US: The MathWork, Inc., 2015.

P.N. Paraskevopoulos, “On the Design of PID Output Feedback Controllers for Linear Multivariable Systems,” IEEE Transactions on Industrial Electronics and Control Instrumentation, Vol. IECI-27, No. 1, pp. 16–18, 1980.

M. Kano, K. Tasaka, M. Ogawa, S. Ootakara, A. Takinami, S. Takahashi, S. Yoshii, “Practical Direct PID/I-PD Controller Tuning and Its Application to Chemical Processes,” 2010 IEEE International Conference on Control Applications, 2010, pp. 2426–2431.

DOI: https://doi.org/10.22146/ijitee.46590

Article Metrics

Abstract views : 75 | views : 48


  • There are currently no refbacks.

Copyright (c) 2019 IJITEE (International Journal of Information Technology and Electrical Engineering)

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

ISSN  : 2550-0554 (online)

Contact :

Department of Electrical engineering and Information Technology, Faculty of Engineering
Universitas Gadjah Mada

Jl. Grafika No 2 Kampus UGM Yogyakarta

+62 (274) 552305

Email : ijitee.ft@ugm.ac.id