PID-hybrid tuning to improve control performance in speed control f DC motor base on PLC

This paper presents an experimental studies of PID tuning. PID tuning can be done in two ways, namely offline and online tuning. Offline tuning method used in this study is the Ziegler-Nichols Quarter Decay, while the online tuning method used is Fuzzy Logic Controller (FLC). In this research, combination between offline and online tuning is performed to form, what so called, hybrid tuning. The hybrid tuning provides significant improvement compared to offline tuning alone. The settling time has been improved to 42, 86%, while percent overshoot (%OS) and Integral of Absolute Error (IAE) can be decreased to 63, 63% and 8, 49% respectively. While in set-point variations, hybrid tuning has better performance than offline tuning.