diff --git a/Assignment 6 - Tuning PID/tugas6_ZN1.m b/Assignment 6 - Tuning PID/tugas6_ZN1.m
new file mode 100644
index 0000000..62d09b7
--- /dev/null
+++ b/Assignment 6 - Tuning PID/tugas6_ZN1.m	
@@ -0,0 +1,111 @@
+clc 
+clear all
+close all
+
+% Get the tangent line
+J = 0.01;
+b = 0.1;
+K = 0.01;
+R = 1;
+L = 0.5;
+s = tf('s');
+
+num_motor = [K];
+den_motor = [J*L J*R+b*L R*b+K*K];
+motor = tf(num_motor,den_motor);
+
+% =========== mencari tangenline dan menetukan nilai T dan Y ================
+tic
+timeVal=tic;
+[y,t] = step(motor);
+h = mean(diff(t));
+dy = gradient(y, h);                                            % Numerical Derivative
+[~,idx] = max(dy);                                              % Index Of Maximum
+b = [t([idx-1,idx+1]) ones(2,1)] \ y([idx-1,idx+1]);            % Regression Line Around Maximum Derivative
+tv = [-b(2)/b(1); (1-b(2))/b(1)];                               % Independent Variable Range For Tangent Line Plot
+f = [tv ones(2,1)] * b;                                         % Calculate Tangent Line
+
+L = tv(1);
+T = tv(2);
+
+figure(1)
+plot(t, y)
+hold on
+plot(tv, f, '-r')                                               % Tangent Line
+plot(t(idx), y(idx), '.r')
+title('Mencari tangent line plant ')% Maximum Vertical
+hold off
+grid
+
+% ================ menentukan control PID sistem ===================
+
+% Deklarasi variable control
+control = tf(zeros(1,1,5));
+sys=tf(zeros(1,1,5));
+complete=tf(zeros(1,1,5));
+
+% sistem dengan P
+kp = T/L
+control(:,:,1)= tf([0 kp 0],[1 0]);
+
+% sistem dengan PI
+kp = 0.9*T/L
+Ti= L/0.3;
+ki = kp/Ti
+control(:,:,2)= tf([0 kp ki],[1 0]);
+
+% sistem dengan PID
+kp = 1.2*T/L
+Ti= 2*L;
+ki = kp/Ti
+Td = 0.5*L;
+kd = kp*Td
+control(:,:,3)= tf([kd kp ki],[1 0]);
+
+toc
+
+%menentukan transfer function sistem
+for x = 1:3
+    sys(:,:,x) = motor*control(:,:,x);
+    complete(:,:,x) = feedback(sys(:,:,x),1);
+end
+
+
+for x = 1:3
+    %Step response
+    figure(2)
+    hold on
+    step(complete(:,:,x));
+    title('Step Response sistem')
+    legend('kendali P', 'kendali PI','kendali PID')
+    hold off
+
+    % Mencari karakteristik gelombang 
+    tf_info(x)= stepinfo(complete(:,:,x));
+    % mencari steady state error
+    [y,t]=step(complete(:,:,x));
+    sserror(x)=(1-y(end));
+    
+    % Impulse Repsonse    
+    figure(3)
+    hold on
+    impulse(complete(:,:,x));
+    title('Impulse Response sistem')
+    legend('kendali P', 'kendali PI','kendali PID')
+    hold off
+    
+    % Ramp Repsonse 
+    figure(4)
+    hold on
+    step(complete(:,:,x)/s);
+    title('Ramp Response sistem')
+    legend('kendali P', 'kendali PI','kendali PID')
+    hold off
+    
+    figure(5)
+    hold on
+    step(complete(:,:,x)/(s*s));
+    title('Acceleration Response sistem')
+    legend('kendali P', 'kendali PI','kendali PID')
+    hold off
+end