This research presents the programming process with M-Files from P matrix system equations to simulate a robotic arm and compare the simulation results via Simulink. In this process of design to cause the control system where the gain system has been adjusted between the time of step input changes in the batch process.

In the simulation, this research designed a two-controller, P controller, and adaptive P controller for comparison of performance in the control input, incidence function in step input profiles, and smooth function to compare the controller to test in different profiles.

In the simulation results, it was found that the form of written P matrix equations can be used for both normal and gain adjustments the same as Simulink. As for the simulation results, it was found that the system with an adaptive P controller can perform better than the P controller in terms of having less overshoot, although steady-state time is approximately the same.