Industries use numerous drives and actuators, including DC motors. Due to the wide-ranged and adjustable speed, DC motor is widely used in many industries. However, the DC motor is prone to external disturbance and parameter changes, causing its speed to be unstable. Thus, a DC motor requires an appropriate controller design to obtain a fast and stable speed with a small steady-state error. In this study, a controller was designed based on the PID control method, with the controller gains tuned by trial-and-error and MATLAB Tuner with an identification system. The proposed controller design was implemented using PLC OMRON CP1E NA20DRA in the hardware implementation. Each tuning method was repeated five times so that the system performances could be compared and improved. Based on hardware implementation results, the trial-error method gave acceptable results but had steady-state errors. On the other hand, the use of MATLAB Tuner provided fast system responses with no steady-state error but still had oscillations with high overshoot during the transition. Therefore, the PID controller gains acquired from MATLAB Tuner must be tuned finely to get better system responses.

Milk is a secretion from mammals that has a function as a source of nutrition. The presence of lactose in milk causes some to be deprived of milk because of lactose allergies. Dairy product for those who are allergic to milk is to consume vegetable milk, such as almond milk. The almond milk produced by Micro Small and Medium Enterprises (MSME) ABC is raw almond milk, which have short shelf life. Quality analysis is a step made to achieve and maintain the desired standards of taste, odour, color and texture. This study contribution to investigate the quality of almond milk after five days of storage. In MSME ABC, quality analysis is done by sensory test and compared with the quality standards set by MSME ABC. The quality of the almond milk analysis takes five days, with three different batches. Data retrieval methods conducted with secondary and primary data. After analysis, obtained data of almond milk on day 5 of storage was devalued. The conclusion of the observations made is that almond milk changes in flavor, color, scent and texture parameters after 5 days of storage.

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INTRODUCTIONMany regional foods in Indonesia use leaves such as banana leaves, teak leaves, guava leaves, "simpor" leaves, and others as packaging materials. Banana leaves are widely used as food packaging. Only a few types of banana leaves are commonly used as packaging, especially by Javanese people, including "Klutuk"-, "Kepok"-, "Raja Bandung/ Uter"-banana leaves. Food will have a certain taste when it is wrapped and steamed in banana leaves (Mohapatra et al., 2010). According to the previous

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