JURNA SAINS DAN SENI ITS Vol, No, Sp 0 ISSN: 0-98X A-5 Papa Mol P Cool MPC paa Kapal Aoplo a aa T S Aa Sola, Kaa, a Sba Ja Maaa, Fala Maaa a Il Paa Ala, I Tolo Spl Nopb ITS Jl A Raa Ha, Sabaya 60 Eal: ba@aaaa Aba Paalaa ala al apal ala aya aala pa ollow Pa ollow bja aaa apal jal ya a Paa pla aj b pal pa al aap aala pa ollow Kapal ya ja obj paa pla aala apal ya bj aa Kapal aa paa apal a jla aabl ya ool lb baya a jla aao, aa aao aala ba ala ya aa ool ba a aa aa paa ya laa aala aoaa ol a apal aap laa a apaa ol a apal ya ba bpa o po apal aap laa a o oa o apal Slajya aa pal MPC abla a apal Hal la ja bawa a pal MPC, o a pa ollow o ol a apal apa laa ya aapa Kaa Kapal Uaa, Mol Da Kapal, Mol P Cool MPC, Pa Follow I PENDAHUUAN NDONESIA paa ala a aa ya baa I ba wlayaya aala laa ya ba paaa aaa a jaa a wlaya paa Sala a paya ya la laa aala a aa paol paa Ioa Paol paa aa a aa aa ja laa po paol aa aoplo, aa laa apal la a blya Kapal a baa ala ya ba paa paa la ya l 6 aja bbaa ala ba ya, way, a, oll, p, a yaw [], aa ap paa pla aabl ya ala aya ala a aja bbaa ya a yaw a a a way, a, oll, p a bpa paa a apal Kapal ya a aala apal aa aa jla aabl ya ool lb baya apaa jla ya ala ol aao [] Aao aala ba ala ya aa ool ba a aa Maala aa ala al apal aala ajoy a a pa ollow [] Tajoy a a paa a baaaa apal laa jal ya, aa pa ollow bja aaa apal jal ya a Tajoy a aa a paa ol aa pa ollow lb pla pa p paa a a pala apal [] Da a a, a a bbaya a apa a aa ya lb ala ylaa paalaa pa ollow, a ba pla aa ala aa al ylaa aala Baya paa ya ala ala bbaa la, aaaya pal bapp ya aa paa waaa ala a [5] a ool apal aa baa paa baa laa ya a, a pal a a op ba [6] ya aa a apal paa aa laa ya aa paa paa aj oa a abaa aa la [7] Paa pla, pl aa ol p ool MPC ala apal aoplo Pla al MPC aaa al apa aa laabl Pla oa paa al o yaw ya ja aa paa apal laa Da aa opa paa MPC ba pal a po apal apa laa ya aapa II GERAK KAPA DI AUTAN Paa ppya pla a apal ba ala aaja bbaa - o o ya:, way,yaw, a,oll, a p p paa Gaba Saa aa ya ala ba apal a laj laa aa a aa, ya aa ala a oa [] Ga ala apal ba ja a, ya: S aj/ Sway aa/ Ha aa/ bawa Ga oa apal ba ja a, ya: Roll aa aj P aa a pa Yaw aa a ap
JURNA SAINS DAN SENI ITS Vol, No, Sp 0 ISSN: 0-98X A-6 o o y o o Gaba Ea aja bbaa a apal [] III MODE MATEMATIKA PERGERAKAN KAPA Mol aaa apal aa paa paa, way, a yaw a oa aala baa b [] : a : = Ba apal a aa y = Ba apal a aa way = S yaw paa b b = Kpaa = Kpaa way = Kpaa yaw,, = Ia apal a pabaa aa paa paa, way, a yaw,= Pa aa oa paa paa way a yaw = Mo yaw Kaa paa laa apal ja baa b : Gaba Kaa paa laa apal [] Paa aba, paa laa ya la a M paa poy oooal a P apal paa paa jaa paja laa aaa bbapa ap paa laa a M a paa o oal a o a paa M paa jaa aa M a P, paa aaa o a X Mala b paa paa oal apal paa aaa paa a paa oal Baaa paa aa, a apal aoaa baa b: Da paa oa o paa la laa pa M, paa laa a baa aala 0, 0 Klaa paa pa ollow 0 Baaa paaa apaa bawa a abla a aa Saa aa l a bawa a paa paaa a ja a paaa, a la laaya op-o a pa baa b w a Daa lal oa po Da op-o, apa l baa b: w w w o w w o w w ow
JURNA SAINS DAN SENI ITS Vol, No, Sp 0 ISSN: 0-98X A-7 IV MODE PREDICTIVE CONTRO UNTUK SISTEM NONINEAR Baaa ola [5]: 5 a R aala o aaa, aala p, a y aala op F obj ba baa b: T T J 6 yˆ wˆ yˆ wˆ 0 a T aala wa p, ŷ aala p laa a ŵ aala yal p Kal p ba baa la awal paa al opal p û, 0 T a obj paa paaa, aa: ˆ 0 7 Opa paa MPC ola ba ol oa b : Toa [5] : Paa ola 5 a aaa laa paa al p a a aa pa aylo apa o l a paa aja la U o al l 0, opa ala MPC ola a a ja 6 baa b : KM w 8 a M R ba baa b : w w M 9 w a K R, al K a pa K 0 0,,, Da R, 0,, Sb 9 a 0 8 aa pol w w 0 a 0,,, aala ba paa paa a T ll, ya ba baa b : l,, l ll l, l, l,, l l,, l, j T j! j! j ' a T aala wa p a l aala o al Daja la bja a p a ala D [6]: S ola 5 aaa pya aja la ja : 0 ap paa 0 a 0 Daja la paa ola 5 aaa a a ba wll ja aja laya aa ap Ka aja la a a a ba aa 0 Spaya apa aa paa Paaa 5, aa a a aa aa aa D [7]: Ta a baa al al a a aa aa l: 5 aa baa a aa o El a a aala: D [7]: Ya a a aala: 6 7 a aa baa a - aa o V PEMBAHASAN Baaa paaa aa b apa l bal baa b: a,
JURNA SAINS DAN SENI ITS Vol, No, Sp 0 ISSN: 0-98X A-8 o 8 9,,,, w a o o o Kal p paa MPC ola ya a a aa pol : 0 a Sa a D aa pya aja la aa 0 Maa aa a la a baa b : o o o o o Klaa 0 aa a apa aala 0 Kal p 8 apa l baa b : 0 o o o o o a Paa pal MPC ya aa aala T=75, l=6 Paa pa - apaa la 0 0,65 a 067,
JURNA SAINS DAN SENI ITS Vol, No, Sp 0 ISSN: 0-98X A-9 VI SIMUASI NUMERIK Da al aala pal MPC aa, aa pol al baa b: Tabl Daa Paa S Kapal Uaa [] Paa Nla Paa Nla / 0 7900 0,00 6600000 0,05 / 7000 0000 / 800000 Paa aba aa, apa la bawa a ja o po, op-o w a o oa o ol Aya, a o po ypa laa ya aapa paa 8, a op-o w ypa laa ya aapa paa -0 a a o oa ypa laa ya aapa paa -0 B Sla Kpaa Sway, Yaw a Kal To Paa ya aa a abl a wa la 0 Hal la ja paa Gaba 6, Gaba 7, a Gaba 8 A Sla Eo Pa Follow a Op-o Paa ya aa a abl a wa la 0 Hal la ja paa Gaba, Gaba, a Gaba 5 Gaba 6 Ga Kpaa Sway Gaba Ga Eo Po Gaba 7 Ga Kpaa Yaw Gaba Ga Op-o w Gaba 8 Ga Kal To Gaba 5 Ga Eo Oa w
JURNA SAINS DAN SENI ITS Vol, No, Sp 0 ISSN: 0-98X A-50 C Sla laa ya aapa Dala la al aala pal MPC aa paaa laa a ja-ja laa 80 baa laa ya aapa Paaa b apa la baa b : R o 0 y R Sla b aa o awal 0 75, y0 0, 0 57a, 0 0 /, 0 0 a wa la 00 a paa ya aa a abl VII KESIMPUAN Da al aala pal MPC ba laya, apaa pla baa b : Pal Mol P Cool apa apa ala a apal a a ba Hal la a al la ya ja bawa a apal aya ba wa bbapa aa apa laa ya aapa Hal la ja bawa laa paa a a a laa ya aapa a o paa pa ollow ya lp o po, op-o w, o oa o ol DAFTAR PUSTAKA Gaba 9 Ga Po Kapal Mla paa Ba y Baaa al a la ya ja paa Gaba 9 Sla b pal MPC ya la aala blya, aa a laa apal ypa laa ya aapa Ja la laa paa paa abl a ja ol, aa al aa abaa apal ba l p al la ya ja paa Gaba 0 [] D P Sa, Paaa pala a oo a abaa aa apal al playaa aj pa Sabaya, Ta A, Ja T Fa, I Tolo Spl Nopb ITS 0 [] S O-Ryo a J S, Pa ollow o aa a a l l-o- ba ol p ool, Oa E, Vol 7, No - 00, Fb 89-95 [] P Eaaao a A Paoal, Coba ajoy a a pa ollow o a a, I o Sy a Robo, Poal 00 [] W Xao, Z Baoa, C Dy, a W Ha,, Aap aaly ol p ooll o pa ollow o aa p, Po o 0 C Cool Co, Yaa, Ca, 0, Jly - [5] P Eaaao a A Paoal, D pa ollow o aooo wa l, Po o 9 IEEE Co o Do a Cool,Syy, Aala, 000 977-98 [6] R Sj a TI Fo, Nola a a ool o p, Po o Oa 00IEEE Co a Ebo, 00 808-85 [7] KD Do a J Pa, Sa- a op-ba ob pa ollow o aa p - a, Oa E, Vol 00 587-6 Gaba 0 Ga Po Kapal paa Ba,y