Fakhruddin Mangkusasmito - Academia.edu (original) (raw)
Papers by Fakhruddin Mangkusasmito
IOP Conference Series: Materials Science and Engineering, 2020
Internet of Things (IoT) is a concept that aims to broaden the benefits of continuously connected... more Internet of Things (IoT) is a concept that aims to broaden the benefits of continuously connected internet connectivity. The IoT concept infrastructure can be built using existing digital communication standard protocols such as Wifi, Zigbee, Bluetooth, but these three standards have limitations in terms of distance and power consumption. The LoRa communication protocol is a special communication standard that emphasises the aspects of long-distance, low power, low data transfer at relatively low prices. It utilises a gateway to forward messages from nodes. This research focuses on the implementation of open and low-cost LoRa gateway, which will be installed in the area of the Diponegoro University Vocational School Semarang. Communication functionality is tested using The Things Network server. The coverage range of gateway was tested by recording RSSI and SNR values received by the gateway. Test results show RSSI readings above -100 dBm at a radius below 100 m from the gateway. RS...
Ultima Computing : Jurnal Sistem Komputer
Remotely Operated Underwater Vehicle (ROV) is a submersible robotic system, used to examine vario... more Remotely Operated Underwater Vehicle (ROV) is a submersible robotic system, used to examine various underwater characteristics and controlled by operators from shore. The applications of ROV are widely diverse, especially for exploration and marine industry. This research is to investigate pressure and drag on underwater vehicles using the CFD approach. A low-cost mini ROV with a 300 mm length was used for the research and to determine the hardware and material type required for prototype production by observing pressure and drag from the CFD simulation result. Simulation is solved using CFD software with RANSE method and Shear Stress Transport based k- ɷ was used as turbulence setting. The result indicated that to pull the mini ROV from the surface to a depth of 50 m requires a thrust of 3,9 kg and the mini ROV receiving the pressure of 7,7 bar.
GY-521 MPU-6050 Module is a core module MPU-6050, which is a 6 axis Motion Processing Unit. This ... more GY-521 MPU-6050 Module is a core module MPU-6050, which is a 6 axis Motion Processing Unit. This sensor can be categorized as an Inertial Measurement Unit (IMU) sensor, which utilizes measurement systems such as gyroscopes and accelerometers to estimate the relative position, velocity, and acceleration of an object. A common accuracy problem in using IMU sensors, including the GY-521 MPU-6050, is the drifting phenomenon. This phenomenon results in a deviation between the actual conditions (position, angular velocity) and the sensor readings. Drift is caused by the accumulation of errors that arise from calculating the integral of the acceleration. This study proposes a drift error correction method at the sensor output using the calibration of the calculation of the average offset error sensor and the sensor fusion method between the information obtained from the gyroscope and accelerometer in the module, the tests were carried out using the Arduino Uno microcontroller. From the tes...
Oil cooled power transformer has important role in the electricity distribution system. Its windi... more Oil cooled power transformer has important role in the electricity distribution system. Its windings were immersed in oil as an insulating medium and also as a cooler. This oil would be heated up due to several things, the most significant was heat generated by winding’s power loss. The monitoring of oil temperature on the transformer was always done routinely every day to maintain its performance and health condition. IoT based measurements could improved efficiency and minimized manpower resources. To realize this the indirect non-destructive measurement method was proposed to estimate transformator’s temperature oil. It will corellate the oil temperature and body temperature through a constant calibration factor derived from calculations. Conducted experiment applied to specific existing transformator and followed by calculations resulted a calibration factor = 1.7749. The smallest average of estimated temperature error was lied in the range of 40 - 90 degrees Celcius.
Di dunia medis, inkubator biasanya digunakan untuk merawat bayi yang baru lahir. Namun, fitur yan... more Di dunia medis, inkubator biasanya digunakan untuk merawat bayi yang baru lahir. Namun, fitur yang terdapat dalam sistem inkubator terbatas pada kontrol suhu, sementara untuk men unjang kondisi bayi yang baru lahir, kelembaban udara juga me njadi parameter penting. Selain itu, sistem yang dapat mendeteksi kapan bayi buang air kecil, dapat mempercepat penanganan dan perawatan bayi. Humidifier biasanya digunakan sebagai pengontrol kelembaban karena murah dan mudah dioperasikan serta mampu memberikan hasil yang baik, sistem tersebut dikombinasikan dengan sensor DHT-11 agar dapat bekerja berdasarkan perubahan kelembaban di dalam ruangan. Sedangkan untuk mendeteksi keberadaan urin, digunakan sensor YL-83 yang biasanya digunakan untuk mendeteksi air dengan perubahan tegangan output sensor. Seluruh sistem diintegrasikan dengan mikrokontroler ATMEGA 16 untuk mengontrol operasi humidifier dan menerima informasi dari detektor urin . Pada penelitian ini, kelembaban ruangan dipertahankan pada n...
2018 International Conference on Signals and Systems (ICSigSys), 2018
Visual servo is a process of moving a robot to fulfill certain specific conditions using visual f... more Visual servo is a process of moving a robot to fulfill certain specific conditions using visual feedback. For a 2DOF platform such as yaw-pitch camera, the main task is to maintain the object in the camera field of view, precisely in the center of the image plane. A high performance of visual servoing is used to smooth the object tracking process. In order for the controller to calculate the necessary robot movements, a control law base on current image measurements and model is needed. This paper present visual servoing method with variation of Jacobian interaction matrix in Image-Based Visual Servo (IBVS) system, combine with Linear Quadratic Regulator (LQR) that allows the system to reach convergence and Kalman filter in order to compensate for the perturbing motions and LQR-Kalman filter pair can be denominated as a Linear Quadratic Gaussian (LQG) controller. The proposed system consists of a SONY FCB-EV7520 camera placed on a Yaw-Pitch Platform which consists of two dynamixel A...
Ultima Computing : Jurnal Sistem Komputer, 2021
Pada penelitian ini telah berhasil membuat sebuah alat uji karakterisasi bias maju dioda mengguna... more Pada penelitian ini telah berhasil membuat sebuah alat uji karakterisasi bias maju dioda menggunakan ADC dan DAC internal mikrokontroler ESP32. Tegangan keluaran DAC ditambahkan dengan rangkaian penguat op-amp tak membalik LM358 sebesar 2 kali. Sehingga hasil pengujian tegangan keluaran DAC dapat mencapai nilai maksimum 6,3 volt sebagai sumber catu daya DC variabel rangkaian uji karakteristik bias maju dioda. Pengujian karakterisasi bias maju dioda dilakukan melalui antarmuka perangkat smartphone android dengan jaringan WiFi dan diperoleh kurva grafik karakterisasi bias maju yang memiliki nilai dan bentuk hampir sama dengan pengujian secara manual. Pengujian karakterisasi bias maju dioda menggunakan aplikasi ini lebih cepat daripada menggunakan pengukuran secara manual dengan alat ukur multimeter. Berdasarkan pengujian yang dilakukan menggunakan aplikasi smartphone android sebanyak 3 kali diperoleh rata-rata waktu sebesar 30 detik, sedangkan secara manual menggunakan alat ukur diper...
The type of power supply that is commonly used is the adjustable power supply. Its ability to gen... more The type of power supply that is commonly used is the adjustable power supply. Its ability to generate a varying voltage level, making it suitable for testing a wide variety of electronic circuits. A conventional protection system of this type is usually a fuse, overcurrent event occurred due to improper installation of the components and circuit design will make this protection system is active and needed replacement fuse. To eliminate the need for fuse purchases at the Instrumentation and Electronics Engineering Laboratory, Undip Vocational School, an adjustable power supply was built with an overload current protection based on the LM723 IC for an operating level of 1 ampere. The system was built as non-fuse protection current limiter. This study will describe the stages of the manufacturing and testing system. The test results show that the power supply output is linear with the coefficient of determination = 0.99 and correlation = 0.99. The system can also limit the average max...
2018 International Conference on Signals and Systems (ICSigSys), 2018
In this paper, we propose an enhancement of color-based particle filter algorithm with oriented F... more In this paper, we propose an enhancement of color-based particle filter algorithm with oriented FAST and rotated BRIEF (ORB) feature detector (ORBPF). By carefully defining the size and position of the search window, ORB will generate interesting key-point close to the object being tracked. The location of matched key-point with high color similarity is then selected to replace the particles from the original filter. This matched key-point can be used to manage the particle spread and minimize the disadvantages of a random selection of the particle set such as degeneracy and sample impoverishment problem. The number of particles can be significantly reduced by using this method while maintaining the accuracy of the tracker. We test our tracker on numerous video sequences and using real-time video input from CCD camera in an indoor and outdoor application that involves some challenging situations including variations in illumination, scale, rotation, and occlusions. From the experime...
Gema Teknologi
Internal temperature of electric panel practically depend on the amount of power dissipation gene... more Internal temperature of electric panel practically depend on the amount of power dissipation generated by the panel components and the outside temperature. If this equilibrium is not maintained then the internal temperature can increase too high beyond the working temperature limit for components so as to shorten the life of panel components. Generally, there are two fans installed to circulate the air inside the panel that operates at fixed speed. In order to improve fan energy efficiency, it is necessary to add a control system that can adjust the fan speed based on actual panel internal temperature. Efforts to increase energy efficiency are realized using cheap hardware and easily available on the market, the ATMEGA 8535 microcontroller and LM 35 temperature sensor. The fan speed is normalized in percent units and expressed virtually using the Pulse Width Modulation (PWM) signal value calculated by the proportional control algorithm inside the controller. The experimental result...
Gema Teknologi
The identification system is a procedure to obtain a model of a system, then of the model will be... more The identification system is a procedure to obtain a model of a system, then of the model will be validated to see the accuracy of the model is obtained, compared to the input-output results obtained from the experiments. In the identification system itself known two methods, the method of "non-parametric" and "parametric". On the other hand, DC motor is a type of motor that uses direct electric current to produce rotational mechanical energy and is widely used in various applications. In this study, input and output data acquisition will be performed on the Feedback brand DC motor, and the data will be processed so that the system model is obtained by the black box method. The data will then be processed with the help of MATLAB software. The input signal used in this experiment is Pseudorandom binary sequence (PRBS), which is used because it has a wide frequency range. The signal is generated by an arduino uno microcontroller. From the test results it was found ...
Transmisi, Jun 1, 2013
Secara umum roket merupakan sistem yang terdiri dari wahana, propulsi, propelan, aeorodinamika da... more Secara umum roket merupakan sistem yang terdiri dari wahana, propulsi, propelan, aeorodinamika dan trayektori, pemanduan dan kendali, serta telemetri dan telekomando.Agar sistem roket bisa bekerja dengan baik maka setiap subsistem tersebut harus bekerja secara sinergis untuk mencapai performa yang diharapkan.Secara garis besar pergerakkan roket ditentukan oleh sirip-sirip roket.Pada umumnya sirip kendali dapat dibagi menjadi tiga jenis, yaitu sirip kendali angguk, sirip kendali geleng, dan sirip guling.Di Indonesia sendiri melaui Lembaga Penerbangan dan Antariksa Nasional (LAPAN) mencoba untuk melakukan pengembangan teknologi kedirgantaraan di Indonesia termasuk di dalamnya roket.Salah satu produknya adalah roket RKX-300 yang diharapkan menjadi sistem wahana peluncur bagi uji coba sistem muatan. penelitian ini dilakukan dengan mensimulasikan perancangan pengendalian terhadap sirip angguk atau defleksi elevator roket untuk mengatur posisi sudut angguk roket. Untuk metode pengendalian defleksi elevator, digunakan metode Linear Quadratic Regulator (LQR) dan pole placement yang diterapkan bersama-sama pada plant. Penggunaan metode LQR saja menghasilakan hasil yang tidak optimal, kemudian digunakan metode pole placement yang memperlihatkan perbaikan pada respon transien sistem terhadap masukan step, yang selanjutnya dengan metode LQR sistem dapat mencapai nilai referensi yang diinginkan.
Gema Teknologi
Fakhruddin Mangkusasmito, Tsani Hendro Nugroho in this paper explain that One of the important co... more Fakhruddin Mangkusasmito, Tsani Hendro Nugroho in this paper explain that One of the important control system in the manufacturing industry is the position control. Mainly in the Computer Numerical Control (CNC) machine, work-table motion control system is used to regulate work-table movements when the machine process a workpieces on it. On standard machines, work-table movements are two axes (X-Y), which is driven by a motor and lead-screw. The discussion in this research only focus on one axis assuming that the systems on both axes are the same and independent. In this research, MATLAB is used to describe the behaviour of the system and also to design appropriate control system in continuos system using state feedback linear controller such as pole placement , tracking system, full order compensator and reduced order compensator. The goal is to obtain a fast response with a rapid rise time and settling time to a step command, while not exceeding an overshoot of 5%. The specificati...
IOP Conference Series: Materials Science and Engineering, 2020
Internet of Things (IoT) is a concept that aims to broaden the benefits of continuously connected... more Internet of Things (IoT) is a concept that aims to broaden the benefits of continuously connected internet connectivity. The IoT concept infrastructure can be built using existing digital communication standard protocols such as Wifi, Zigbee, Bluetooth, but these three standards have limitations in terms of distance and power consumption. The LoRa communication protocol is a special communication standard that emphasises the aspects of long-distance, low power, low data transfer at relatively low prices. It utilises a gateway to forward messages from nodes. This research focuses on the implementation of open and low-cost LoRa gateway, which will be installed in the area of the Diponegoro University Vocational School Semarang. Communication functionality is tested using The Things Network server. The coverage range of gateway was tested by recording RSSI and SNR values received by the gateway. Test results show RSSI readings above -100 dBm at a radius below 100 m from the gateway. RS...
Ultima Computing : Jurnal Sistem Komputer
Remotely Operated Underwater Vehicle (ROV) is a submersible robotic system, used to examine vario... more Remotely Operated Underwater Vehicle (ROV) is a submersible robotic system, used to examine various underwater characteristics and controlled by operators from shore. The applications of ROV are widely diverse, especially for exploration and marine industry. This research is to investigate pressure and drag on underwater vehicles using the CFD approach. A low-cost mini ROV with a 300 mm length was used for the research and to determine the hardware and material type required for prototype production by observing pressure and drag from the CFD simulation result. Simulation is solved using CFD software with RANSE method and Shear Stress Transport based k- ɷ was used as turbulence setting. The result indicated that to pull the mini ROV from the surface to a depth of 50 m requires a thrust of 3,9 kg and the mini ROV receiving the pressure of 7,7 bar.
GY-521 MPU-6050 Module is a core module MPU-6050, which is a 6 axis Motion Processing Unit. This ... more GY-521 MPU-6050 Module is a core module MPU-6050, which is a 6 axis Motion Processing Unit. This sensor can be categorized as an Inertial Measurement Unit (IMU) sensor, which utilizes measurement systems such as gyroscopes and accelerometers to estimate the relative position, velocity, and acceleration of an object. A common accuracy problem in using IMU sensors, including the GY-521 MPU-6050, is the drifting phenomenon. This phenomenon results in a deviation between the actual conditions (position, angular velocity) and the sensor readings. Drift is caused by the accumulation of errors that arise from calculating the integral of the acceleration. This study proposes a drift error correction method at the sensor output using the calibration of the calculation of the average offset error sensor and the sensor fusion method between the information obtained from the gyroscope and accelerometer in the module, the tests were carried out using the Arduino Uno microcontroller. From the tes...
Oil cooled power transformer has important role in the electricity distribution system. Its windi... more Oil cooled power transformer has important role in the electricity distribution system. Its windings were immersed in oil as an insulating medium and also as a cooler. This oil would be heated up due to several things, the most significant was heat generated by winding’s power loss. The monitoring of oil temperature on the transformer was always done routinely every day to maintain its performance and health condition. IoT based measurements could improved efficiency and minimized manpower resources. To realize this the indirect non-destructive measurement method was proposed to estimate transformator’s temperature oil. It will corellate the oil temperature and body temperature through a constant calibration factor derived from calculations. Conducted experiment applied to specific existing transformator and followed by calculations resulted a calibration factor = 1.7749. The smallest average of estimated temperature error was lied in the range of 40 - 90 degrees Celcius.
Di dunia medis, inkubator biasanya digunakan untuk merawat bayi yang baru lahir. Namun, fitur yan... more Di dunia medis, inkubator biasanya digunakan untuk merawat bayi yang baru lahir. Namun, fitur yang terdapat dalam sistem inkubator terbatas pada kontrol suhu, sementara untuk men unjang kondisi bayi yang baru lahir, kelembaban udara juga me njadi parameter penting. Selain itu, sistem yang dapat mendeteksi kapan bayi buang air kecil, dapat mempercepat penanganan dan perawatan bayi. Humidifier biasanya digunakan sebagai pengontrol kelembaban karena murah dan mudah dioperasikan serta mampu memberikan hasil yang baik, sistem tersebut dikombinasikan dengan sensor DHT-11 agar dapat bekerja berdasarkan perubahan kelembaban di dalam ruangan. Sedangkan untuk mendeteksi keberadaan urin, digunakan sensor YL-83 yang biasanya digunakan untuk mendeteksi air dengan perubahan tegangan output sensor. Seluruh sistem diintegrasikan dengan mikrokontroler ATMEGA 16 untuk mengontrol operasi humidifier dan menerima informasi dari detektor urin . Pada penelitian ini, kelembaban ruangan dipertahankan pada n...
2018 International Conference on Signals and Systems (ICSigSys), 2018
Visual servo is a process of moving a robot to fulfill certain specific conditions using visual f... more Visual servo is a process of moving a robot to fulfill certain specific conditions using visual feedback. For a 2DOF platform such as yaw-pitch camera, the main task is to maintain the object in the camera field of view, precisely in the center of the image plane. A high performance of visual servoing is used to smooth the object tracking process. In order for the controller to calculate the necessary robot movements, a control law base on current image measurements and model is needed. This paper present visual servoing method with variation of Jacobian interaction matrix in Image-Based Visual Servo (IBVS) system, combine with Linear Quadratic Regulator (LQR) that allows the system to reach convergence and Kalman filter in order to compensate for the perturbing motions and LQR-Kalman filter pair can be denominated as a Linear Quadratic Gaussian (LQG) controller. The proposed system consists of a SONY FCB-EV7520 camera placed on a Yaw-Pitch Platform which consists of two dynamixel A...
Ultima Computing : Jurnal Sistem Komputer, 2021
Pada penelitian ini telah berhasil membuat sebuah alat uji karakterisasi bias maju dioda mengguna... more Pada penelitian ini telah berhasil membuat sebuah alat uji karakterisasi bias maju dioda menggunakan ADC dan DAC internal mikrokontroler ESP32. Tegangan keluaran DAC ditambahkan dengan rangkaian penguat op-amp tak membalik LM358 sebesar 2 kali. Sehingga hasil pengujian tegangan keluaran DAC dapat mencapai nilai maksimum 6,3 volt sebagai sumber catu daya DC variabel rangkaian uji karakteristik bias maju dioda. Pengujian karakterisasi bias maju dioda dilakukan melalui antarmuka perangkat smartphone android dengan jaringan WiFi dan diperoleh kurva grafik karakterisasi bias maju yang memiliki nilai dan bentuk hampir sama dengan pengujian secara manual. Pengujian karakterisasi bias maju dioda menggunakan aplikasi ini lebih cepat daripada menggunakan pengukuran secara manual dengan alat ukur multimeter. Berdasarkan pengujian yang dilakukan menggunakan aplikasi smartphone android sebanyak 3 kali diperoleh rata-rata waktu sebesar 30 detik, sedangkan secara manual menggunakan alat ukur diper...
The type of power supply that is commonly used is the adjustable power supply. Its ability to gen... more The type of power supply that is commonly used is the adjustable power supply. Its ability to generate a varying voltage level, making it suitable for testing a wide variety of electronic circuits. A conventional protection system of this type is usually a fuse, overcurrent event occurred due to improper installation of the components and circuit design will make this protection system is active and needed replacement fuse. To eliminate the need for fuse purchases at the Instrumentation and Electronics Engineering Laboratory, Undip Vocational School, an adjustable power supply was built with an overload current protection based on the LM723 IC for an operating level of 1 ampere. The system was built as non-fuse protection current limiter. This study will describe the stages of the manufacturing and testing system. The test results show that the power supply output is linear with the coefficient of determination = 0.99 and correlation = 0.99. The system can also limit the average max...
2018 International Conference on Signals and Systems (ICSigSys), 2018
In this paper, we propose an enhancement of color-based particle filter algorithm with oriented F... more In this paper, we propose an enhancement of color-based particle filter algorithm with oriented FAST and rotated BRIEF (ORB) feature detector (ORBPF). By carefully defining the size and position of the search window, ORB will generate interesting key-point close to the object being tracked. The location of matched key-point with high color similarity is then selected to replace the particles from the original filter. This matched key-point can be used to manage the particle spread and minimize the disadvantages of a random selection of the particle set such as degeneracy and sample impoverishment problem. The number of particles can be significantly reduced by using this method while maintaining the accuracy of the tracker. We test our tracker on numerous video sequences and using real-time video input from CCD camera in an indoor and outdoor application that involves some challenging situations including variations in illumination, scale, rotation, and occlusions. From the experime...
Gema Teknologi
Internal temperature of electric panel practically depend on the amount of power dissipation gene... more Internal temperature of electric panel practically depend on the amount of power dissipation generated by the panel components and the outside temperature. If this equilibrium is not maintained then the internal temperature can increase too high beyond the working temperature limit for components so as to shorten the life of panel components. Generally, there are two fans installed to circulate the air inside the panel that operates at fixed speed. In order to improve fan energy efficiency, it is necessary to add a control system that can adjust the fan speed based on actual panel internal temperature. Efforts to increase energy efficiency are realized using cheap hardware and easily available on the market, the ATMEGA 8535 microcontroller and LM 35 temperature sensor. The fan speed is normalized in percent units and expressed virtually using the Pulse Width Modulation (PWM) signal value calculated by the proportional control algorithm inside the controller. The experimental result...
Gema Teknologi
The identification system is a procedure to obtain a model of a system, then of the model will be... more The identification system is a procedure to obtain a model of a system, then of the model will be validated to see the accuracy of the model is obtained, compared to the input-output results obtained from the experiments. In the identification system itself known two methods, the method of "non-parametric" and "parametric". On the other hand, DC motor is a type of motor that uses direct electric current to produce rotational mechanical energy and is widely used in various applications. In this study, input and output data acquisition will be performed on the Feedback brand DC motor, and the data will be processed so that the system model is obtained by the black box method. The data will then be processed with the help of MATLAB software. The input signal used in this experiment is Pseudorandom binary sequence (PRBS), which is used because it has a wide frequency range. The signal is generated by an arduino uno microcontroller. From the test results it was found ...
Transmisi, Jun 1, 2013
Secara umum roket merupakan sistem yang terdiri dari wahana, propulsi, propelan, aeorodinamika da... more Secara umum roket merupakan sistem yang terdiri dari wahana, propulsi, propelan, aeorodinamika dan trayektori, pemanduan dan kendali, serta telemetri dan telekomando.Agar sistem roket bisa bekerja dengan baik maka setiap subsistem tersebut harus bekerja secara sinergis untuk mencapai performa yang diharapkan.Secara garis besar pergerakkan roket ditentukan oleh sirip-sirip roket.Pada umumnya sirip kendali dapat dibagi menjadi tiga jenis, yaitu sirip kendali angguk, sirip kendali geleng, dan sirip guling.Di Indonesia sendiri melaui Lembaga Penerbangan dan Antariksa Nasional (LAPAN) mencoba untuk melakukan pengembangan teknologi kedirgantaraan di Indonesia termasuk di dalamnya roket.Salah satu produknya adalah roket RKX-300 yang diharapkan menjadi sistem wahana peluncur bagi uji coba sistem muatan. penelitian ini dilakukan dengan mensimulasikan perancangan pengendalian terhadap sirip angguk atau defleksi elevator roket untuk mengatur posisi sudut angguk roket. Untuk metode pengendalian defleksi elevator, digunakan metode Linear Quadratic Regulator (LQR) dan pole placement yang diterapkan bersama-sama pada plant. Penggunaan metode LQR saja menghasilakan hasil yang tidak optimal, kemudian digunakan metode pole placement yang memperlihatkan perbaikan pada respon transien sistem terhadap masukan step, yang selanjutnya dengan metode LQR sistem dapat mencapai nilai referensi yang diinginkan.
Gema Teknologi
Fakhruddin Mangkusasmito, Tsani Hendro Nugroho in this paper explain that One of the important co... more Fakhruddin Mangkusasmito, Tsani Hendro Nugroho in this paper explain that One of the important control system in the manufacturing industry is the position control. Mainly in the Computer Numerical Control (CNC) machine, work-table motion control system is used to regulate work-table movements when the machine process a workpieces on it. On standard machines, work-table movements are two axes (X-Y), which is driven by a motor and lead-screw. The discussion in this research only focus on one axis assuming that the systems on both axes are the same and independent. In this research, MATLAB is used to describe the behaviour of the system and also to design appropriate control system in continuos system using state feedback linear controller such as pole placement , tracking system, full order compensator and reduced order compensator. The goal is to obtain a fast response with a rapid rise time and settling time to a step command, while not exceeding an overshoot of 5%. The specificati...