Melola Discovery

← Melola Discovery

Journal SINTA 1

System Identification and Control Strategy on Electric Power Steering DC Motor

Journal of Robotics and Control (JRC) · Vol. 5 No. 3 (2024) · pp. 655–666

DOI
10.18196/jrc.v5i3.21614
ISSN
2715-5072, 2715-5056
Published
2024-03-25
Publisher
Universitas Muhammadiyah Yogyakarta
Language
eng

Abstract

Power steering technology help human to control the car. The hydraulic power steering system now tends to be replaced by the electric power steering system (EPS). As the main driver that require precise control. The contribution of this research is to obtain system identification of EPS motor and novelty control strategy to achieve stable control better. Motor control require an appropriate mathematical model and up-down-up down signals of Pseudo Random Binary Signal Sequence (PRBS) were used. The modelling method used was the Numerical Algorithm for Subspace State Space System Identification (N4SID). The quality of the modeling needs to be measured to see whether it was close to the original signal. The validation of the model obtained tested using Variance Accounted For (VAC), Akaike Information Criterion (AIC), and Final Prediction Error (FPE). The best mathematical model was developed on the basis of these three criteria, which is 3rd order model. The control strategy carried out by means of the Ziegler Nichols, Tyreus Luyben and Haugen tuning technique. With these three tuning methods, the control parameters obtained were used for Proprotional-Integral (PI) and Proportional-Integral-Derivative (PID) control. Based on the study, the Haugen control shows the best results of the two other controls, namely with a rise time value of 11,361 ms, overshoot of 6,898%, and steady state at 1.3 s. This show that PI control using the Haugen tuning method able to control the motor well. Robustness tests have also been carried out because the steering system is operated in unpredictable environmental conditions. The control greatly influenced the performance and stability of EPS control in the car's steering system.

Keywords

Collaboration network of the authors

40 authors · 139 co-authorship links · 4 across different organisations

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Sultan Agung Islamic University
  • Sriwijaya University
  • IPB University
  • Universitas Islam Negeri Alauddin Makassar
  • Universitas Islam Negeri Kiai Ageng Muhammad Besari Ponorogo
  • Lampung University
  • Universitas Halu Oleo
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Zainuddin NawawiSriwijaya University5
Bhakti Yudho SupraptoSriwijaya University5
Muhamad HaddinAffiliation unknown3
Sri Arttini Dwi PrasetyowatiSultan Agung Islamic University2
Ujang SumarwanIPB University1
Herry PurnomoAffiliation unknown1
JOHANNES W WAHONOAffiliation unknown1
BAMBANG DWI WIJANARKOAffiliation unknown1
Darsul S. PuyuUniversitas Islam Negeri Alauddin Makassar1
Subehan Khalik UmarAffiliation unknown1
Hasdin HanisAffiliation unknown1
Muhammad AbiliAffiliation unknown1
Lukman SantosoUniversitas Islam Negeri Kiai Ageng Muhammad Besari Ponorogo1
Akhmad FauziAffiliation unknown1
Baba BarusAffiliation unknown1
Tiara Aprilia Putri HernandaAffiliation unknown1
- FitrianiAffiliation unknown1
Abu Hasan As-SadiliAffiliation unknown1
Slamet Budi YuwonoLampung University1
Hiroaki SomuraAffiliation unknown1
Dermiyati DermiyatiAffiliation unknown1
Novi RosantiAffiliation unknown1
Shima KazutoAffiliation unknown1
Dian RahmalinaAffiliation unknown1
Fitri Yuni LestariAffiliation unknown1
Saidah RaufAffiliation unknown1
Santi Aprilian LestaluhuAffiliation unknown1
Sri Eny SetyowatiAffiliation unknown1
Emil SalimUniversitas Halu Oleo1
Suryati SuryatiAffiliation unknown1
Adlis SantoniAffiliation unknown1
Norman FerdinalAffiliation unknown1
Asri AmeliaAffiliation unknown1
Leidina ZeinAffiliation unknown1
Silfani MairantiAffiliation unknown1
Indah Putri LestariAffiliation unknown1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, first harvested 9 Nov 2026, last seen 9 Nov 2026.
Original metadata (oai_dc) 
<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<dc:title xml:lang="en-US">System Identification and Control Strategy on Electric Power Steering DC Motor</dc:title>
	<dc:creator>Arifin, Bustanul</dc:creator>
	<dc:creator>Nugroho, Agus Adhi</dc:creator>
	<dc:creator>Budisusila, Eka Nuryanto</dc:creator>
	<dc:creator>Khosyi'in, Muhammad</dc:creator>
	<dc:subject xml:lang="en-US">System Identification</dc:subject>
	<dc:subject xml:lang="en-US">EPS DC Motor</dc:subject>
	<dc:subject xml:lang="en-US">Myrio1900</dc:subject>
	<dc:subject xml:lang="en-US">Tuning Method</dc:subject>
	<dc:subject xml:lang="en-US">Performance</dc:subject>
	<dc:subject xml:lang="en-US">Stability.</dc:subject>
	<dc:description xml:lang="en-US">Power steering technology help human to control the car. The hydraulic power steering system now tends to be replaced by the electric power steering system (EPS). As the main driver that require precise control. The contribution of this research is to obtain system identification of EPS motor and novelty control strategy to achieve stable control better. Motor control require an appropriate mathematical model and up-down-up down signals of Pseudo Random Binary Signal Sequence (PRBS) were used. The modelling method used was the Numerical Algorithm for Subspace State Space System Identification (N4SID). The quality of the modeling needs to be measured to see whether it was close to the original signal. The validation of the model obtained tested using Variance Accounted For (VAC), Akaike Information Criterion (AIC), and Final Prediction Error (FPE). The best mathematical model was developed on the basis of these three criteria, which is 3rd order model. The control strategy carried out by means of the Ziegler Nichols, Tyreus Luyben and Haugen tuning technique. With these three tuning methods, the control parameters obtained were used for Proprotional-Integral (PI) and Proportional-Integral-Derivative (PID) control. Based on the study, the Haugen control shows the best results of the two other controls, namely with a rise time value of 11,361 ms, overshoot of 6,898%, and steady state at 1.3 s. This show that PI control using the Haugen tuning method able to control the motor well. Robustness tests have also been carried out because the steering system is operated in unpredictable environmental conditions. The control greatly influenced the performance and stability of EPS control in the car's steering system.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Muhammadiyah Yogyakarta</dc:publisher>
	<dc:date>2024-03-25</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.umy.ac.id/index.php/jrc/article/view/21614</dc:identifier>
	<dc:identifier>10.18196/jrc.v5i3.21614</dc:identifier>
	<dc:source xml:lang="en-US">Journal of Robotics and Control (JRC); Vol. 5 No. 3 (2024); 655-666</dc:source>
	<dc:source>2715-5072</dc:source>
	<dc:source>2715-5056</dc:source>
	<dc:source>10.18196/jrc.v5i3</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.umy.ac.id/index.php/jrc/article/view/21614/9080</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2024 Bustanul Arifin, Agus Adhi Nugroho, Eka Nuryanto Budisusila, Muhammad Khosyi'in</dc:rights>
</oai_dc:dc>