Judul: Pemodelan Sistem Pendulum Terbalik Ganda dan Karakterisasi Parameter pada Masalah Regulasi Optimal
Abstrak: The inverted pendulum systems are standard problems in the area of control systems. Demonstration of concepts in linear control such as the stabilization systems is often useful. Illustrating some of the ideas in nonlinear control is also useful. In this work, the inverted pendulum systems on optimal regulation problem in terms of the plant parameters are characterized. First, the single and double inverted pendulum systems are modeled. Then the analytical expressions for the optimal regulation problem where minimized the control input are derived. For both pendulums, the energy will be optimal if the length of pendulum is longer. If pendulum in systems which given is longer, then systems will be easy stable or other. Double inverted pendulum system is generally harder to be controlled than the single one
Keyword: 

Judul: Karakterisasi Parameter Sistem Pendulum Terbalik Dual pada Masalah Tracking Error Optimal
Abstrak: In this thesis we study the optimal tracking error problem applied to dual invertedndulum system. We stabilize the pendulwn system by controlling itsosition well as minimizing the tracking error, the difference between Osition and actual position. The focus of this study is on fonnulating the analytical expression of the optimal tracking error. We show that the analytical can be completely characterized in terms of pendulwn parameters, such as nihgths, masses, and the mass of the motor. Furthermore, we rewrite the expressici solely in terms of pendulum length by setting other parameters constant.~inally, we provide . some illustrative examples showing the relation between ndulumlengths and the minimum achievable tracking error.
Keyword: 

Judul: Primer Spesifik Ikan Hiu Biru (Prionace glauca) Berbasis Marka Cytochrome B untuk Autentikasi Produk Olahan Ikan Hiu
Abstrak: Primer merupakan aspek krusial yang perlu diperhatikan dalam proses mengidentifikasi spesies pada produk olahan hiu berbasis genetik. Jenis marka mtDNA yang dapat digunakan untuk mengidentifikasi species salah satunya adalah gen cytochrome b. Prionace glauca merupakan spesies ikan hiu yang tersebar luas di perairan Indonesia yang jumlah populasinya terus mengalami penurunan. Mendesain primer cytochrome b spesifik Prionace glauca menjadi tujuan dalam penelitian untuk mengidentifikasi adanya spesies tersebut dalam produk olahan ikan hiu komersil. Primer didesain pada fitur Primer-BLAST pada situs NCBI. Primer diujikan melalui proses amplifikasi pada isolat DNA produk olahan hiu yang meliputi ikan hiu asin (A1), abon ikan hiu (B1 dan B2), ikan hiu asap (C1), ikan hiu empal (E1), dan fillet ikan hiu (F1 dan F2) dengan tingkat kemurnian 0.909-2.106 (A260/280). Pada suhu annealing 55oC teridentifikasi ukuran DNA seluruh sampel yang diujia dalah 500 bp. Sekuens dari sampel yang telah diamplifikasi menunjukkan hasil BLAST spesies yaitu Prionace glauca dengan tingkat kemiripan mencapai 99,66%. Kedekatan genetik pada hasil filogenetik terlihat pada kelompok yang terbentuk dengan spesies target Prionace glauca dengan nilai bootstrap 100%., Primer is an essential aspect of the species identification procedure. One of the DNA sourced at cytochrome B mtDNA is recognized suitable as a marker. Shark species that distribute almost in every Indonesia's sea is Prionace glauca. A pair of specific cytochrome b primers were designed with the Primer-BLAST feature on NCBI. The primer got applied at DNA amplification that run to analyze some products labeled as salted shark meat (A1), shark meat floss (B1 and B2), smoked shark meat (C1), shark empal (E1), and shark meat fillet (F1 and F2), have 0,909-2,106 (A260/280) purity rate. The sizes of all DNA samples were identified at 500 bp at 55oC annealing temperature. Prionace glauca was spotted at BLAST result from the sample's sequence with the percent identity up to 99,66%. The phylogenic tree shows a group containing product and Prionace glauca with 100% bootstrap value.
Keyword: Prionace glauca, Cytochrome b, Ikan hiu, Primer spesifik