Cohen-Coon PID Tuning Method for Self-Balancing Robot

Smart city is a technology-based modern city concept, where at this time it is very necessary to develop the right technology to facilitate modern lifestyles. During the current pandemic, of course, our movement or interaction as humans is limited and we must also keep our distance from each other. Along with the increasingly developing technology, innovations related to surrounding mobility are made. The development of robots is also increasing, with the existence of technology. Of course, in everyday life, interaction is also needed to move an item from one place to another. For example, to move goods, but before that, a system is needed in order to balance the position or location of the goods. This research intends to make a prototype of a self-balancing robot based on PID tuning Cohen-Coon. The self-balancing robot requires a good control method to maintain the robot’s position in a perpendicular condition to the earth’s surface without the need for external controllers. In this study, starting from the design of Cohen-Coon PID tuning to control the balance of the robot. The result of this study is PID tuning cohen-coon can improve control performance on the system, so that it can be implemented into self-balancing robots with overshoot value 0%, rise time 0. 0476s, settling time 15.5 s and steady state error 0%.