International Journal of Power Electronics and Drive System (IJPEDS) Vol. 11, No. 4, December 2020, pp. 2164~2172 ISSN: 2088-8694, DOI: 10.11591/ijpeds.v11.i4.pp2164-2172  2164 Journal homepage: http://ijpeds.iaescore.com PID optimal control to reduce energy consumption in DC-drive system Hari Maghfiroh 1 , Muhammad Nizam 2 , Supriyanto Praptodiyono 3 1,2 Department of Electrical Engineering, Sebelas Maret University, Indonesia 3 Department of Electrical Engineering, Sultan Ageng Tirtayasa University, Indonesia Article Info ABSTRACT Article history: Received May 9, 2020 Revised Jun 10, 2020 Accepted Jul 9, 2020 The control system that is widely used in industry is PID (Proportional Integral Derivative). Almost 90% of industries still use PID control systems because of its simplicity, applicability, and reliability. However, the weakness of PID is that it takes a long time to tune. PID control with good performance and low energy consumption can be achieved using GA tuning with the appropriate objective function. The contribution of this paper is to propose the implementation of LQR control in the form of PID using GA tuning with LQR objective function. The proposed algorithm was implemented both in the simulation and hardware which is a mini conveyor with a DC motor. The result shows that the proposed algorithm is better in both IAE and energy consumption compared with other PID tuning, Ziegler–Nichols (ZN), and GA with IAE objective function. Compared with PID ZN, it has IAE and energy reduction by 2.76% and 16.07% respectively. Although its performance is lower than the LQR, it has other advantages that use fewer sensors. The other advantage of the proposed method is, PID is more familiar using. Therefore, it easy to be implemented in the existing system without a lot of changes. Keywords: DC motor Energy GA LQR PID This is an open access article under the CC BY-SA license. Corresponding Author: Hari Maghfiroh, Department of Electrical Engineering, Sebelas Maret University, Jl.Ir. Sutami 36A, Surakarta–57126, Indonesia. Email: hari.maghfiroh@gmail.com 1. INTRODUCTION One technology to support production speed is electric motors with high performance, efficiency, speed dynamics, and good load response. There are two kinds of electric motor which are AC and DC motor. DC motor has some advantages such as easy to control the speed or position and wide adjustable range [1-2]. However, it also has some drawbacks, one of them is, it uses mechanical commutator (brush) which cause high maintenance cost [3]. DC motors are widely used as in steel rolling mills, electric trains, electric vehicles, and robotics actuators [4]. Since energy is an important issue today, and according to [5], the electric motor is one of the appliances that consume considerable energy, the control method which can reduce energy consumption with better performance is needed. The speed control of the DC motor is generally obtained by changing its terminal voltage [6]. PID control is one of the well-known algorithms for speed control. Based on [7, 8], almost 90% of industries use PID control because of its simplicity, applicability, and reliability. However, the weakness of PID is that it takes a long time to tune [9, 10]. Several methods of tuning PID controls have been proposed. This tuning method can be categorized into i) empirical methods such as Ziegler-Nichols (ZN) and Cohen-Coon (CC), ii)