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Edit documentation Assign 6

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nandard
2022-09-22 16:27:32 +07:00
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Assignment 6 - Tuning PID/README.md
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@@ -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