From d37785b6dcffeaa578107d6809dc6be3f9636403 Mon Sep 17 00:00:00 2001
From: nandard <77116615+nandard@users.noreply.github.com>
Date: Thu, 22 Sep 2022 16:27:32 +0700
Subject: [PATCH 1/3] Edit documentation Assign 6

---
 Assignment 6 - Tuning PID/README.md | 34 +++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/Assignment 6 - Tuning PID/README.md b/Assignment 6 - Tuning PID/README.md
index 3cf2d5f..250f649 100644
--- a/Assignment 6 - Tuning PID/README.md	
+++ b/Assignment 6 - Tuning PID/README.md	
@@ -26,6 +26,40 @@ Variable above is the constant for PSO tuning.
 
 
 ## Testing 
+### ITAE Cost Function
+![itae](https://user-images.githubusercontent.com/77116615/191710404-8b5a9d09-9362-4ace-9185-530930ad2abd.png)
+
+### Step Response
+![Screenshot 2022-09-22 162423](https://user-images.githubusercontent.com/77116615/191710444-cfb6b03f-4e3c-4651-b775-1ae2c7cd17d0.png)
+
+## Results
+### Before PSO-PID
+```
+        RiseTime: 1.0161
+    SettlingTime: 1.8471
+     SettlingMin: 0.0819
+     SettlingMax: 0.0907
+       Overshoot: 0
+      Undershoot: 0
+            Peak: 0.0907
+        PeakTime: 3.0168
+         SSError: 0.9095
+```
+### After PSO-PID
+Kp = 853.2738
+Ki = 73.5218
+Kd = 2500
+```
+        RiseTime: 9.6110e-04
+    SettlingTime: 0.0012
+     SettlingMin: 0.9952
+     SettlingMax: 0.9977
+       Overshoot: 0
+      Undershoot: 0
+            Peak: 0.9977
+        PeakTime: 0.0036
+         SSError: 0.0024
+```
 
 ### Notes
 Contact nanda.r.d@mail.ugm.ac.id for more information

From fc9ec9a3e1274616570107e5de21bf331d12646c Mon Sep 17 00:00:00 2001
From: nandard <77116615+nandard@users.noreply.github.com>
Date: Thu, 22 Sep 2022 16:29:13 +0700
Subject: [PATCH 2/3] Edit assign 6 documentation

---
 Assignment 6 - Tuning PID/README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Assignment 6 - Tuning PID/README.md b/Assignment 6 - Tuning PID/README.md
index 250f649..72bd2b0 100644
--- a/Assignment 6 - Tuning PID/README.md	
+++ b/Assignment 6 - Tuning PID/README.md	
@@ -1,4 +1,4 @@
-# Derivative Effect on Control System
+# Improved Particle Swarm Optimization on PID Tuning
 This dir is belong to Control System class contains with Tuning PID with ZN1 and PSO on motor system.
 
 ## Software
@@ -47,7 +47,9 @@ Variable above is the constant for PSO tuning.
 ```
 ### After PSO-PID
 Kp = 853.2738
+
 Ki = 73.5218
+
 Kd = 2500
 ```
         RiseTime: 9.6110e-04

From 8755ca54be4f21398621fc7ae97303d54f8d31c9 Mon Sep 17 00:00:00 2001
From: nandard <77116615+nandard@users.noreply.github.com>
Date: Thu, 22 Sep 2022 19:55:41 +0700
Subject: [PATCH 3/3] Update assign 6 documentation

---
 Assignment 6 - Tuning PID/README.md | 29 ++++++++++++++++++++---------
 1 file changed, 20 insertions(+), 9 deletions(-)

diff --git a/Assignment 6 - Tuning PID/README.md b/Assignment 6 - Tuning PID/README.md
index 72bd2b0..0407a5d 100644
--- a/Assignment 6 - Tuning PID/README.md	
+++ b/Assignment 6 - Tuning PID/README.md	
@@ -27,12 +27,23 @@ Variable above is the constant for PSO tuning.
 
 ## Testing 
 ### ITAE Cost Function
-![itae](https://user-images.githubusercontent.com/77116615/191710404-8b5a9d09-9362-4ace-9185-530930ad2abd.png)
+![itae](https://user-images.githubusercontent.com/77116615/191751929-89ff2f77-7e1a-45a4-b535-f8f3a768ecc6.png)
 
 ### Step Response
-![Screenshot 2022-09-22 162423](https://user-images.githubusercontent.com/77116615/191710444-cfb6b03f-4e3c-4651-b775-1ae2c7cd17d0.png)
+![step](https://user-images.githubusercontent.com/77116615/191751960-eee905b9-e450-41de-8824-f2157e431238.png)
+
+### Ramp Response
+![ramp](https://user-images.githubusercontent.com/77116615/191752006-63e2fe9b-69ad-48eb-881d-7adb2b630819.png)
+
+### Impulse Response
+![impulse](https://user-images.githubusercontent.com/77116615/191752036-5e05bfd7-9448-437e-ada6-16d9744b1b89.png)
+
+### Acceleration Response
+![acceleration](https://user-images.githubusercontent.com/77116615/191752086-4f392de0-202b-429c-adc9-0935d10275b5.png)
 
 ## Results
+Elapsed time is 18.701024 seconds.
+
 ### Before PSO-PID
 ```
         RiseTime: 1.0161
@@ -46,19 +57,19 @@ Variable above is the constant for PSO tuning.
          SSError: 0.9095
 ```
 ### After PSO-PID
-Kp = 853.2738
+Kp = 853.3161
 
-Ki = 73.5218
+Ki = 74.1078
 
-Kd = 2500
+Kd = 2.4810e+03
 ```
-        RiseTime: 9.6110e-04
+        RiseTime: 9.5287e-04
     SettlingTime: 0.0012
-     SettlingMin: 0.9952
-     SettlingMax: 0.9977
+     SettlingMin: 0.9949
+     SettlingMax: 0.9976
        Overshoot: 0
       Undershoot: 0
-            Peak: 0.9977
+            Peak: 0.9976
         PeakTime: 0.0036
          SSError: 0.0024
 ```