Rancang Bangun Pengendali PID Menggunaka (1)

,-./-.01

2-.03.1

45.05.6-7

8

1

49:1

;5.003.-<-.1

4=>1

3.?

3<1

@8

A37

-?

BC1

47

-.?

1

DC651

E1

25CF-G8

G1

HB.65CI-C51

9.JB3/K1

@-CLB.B1H-KM31N-6A8<BO_{P11@BQ8-.1R-KM-}E1

ST_{UVWVXYZ[\]Z^]_`\]aWbTcb`^a\]Z^]d\e\W^fYZgVZeTfYZgVZe} h\e\W]Y`bZei^`^WTj\XYk^lYWVeYTfYZgVZemmSTnbaY]cbXSo

pS_{XYWqZrgs`tuYvbbwxbsTXby^YZuYvuYtrb`zYZwYxw^g{||}

}2@J,}~1

cYgYX\a^Yrr\WYZe]Ya]\ZgY`^g^^ZgVXaW^TX\r\Wa^+3963€1460&912pjk‚{sYVrVZ*6)65225€1 ƒ)3(4616pc„k{X\`Y`Va\WX\g^Yr\Ze\ZgY`^cjpcWbrbWX^bZY`TZa\eWY`Tj\W^…Ya^…\{g\ZeYZaYszYvYZ 5†434)VZaV]s\sVgYv]YZbr\WYabWs\ZqY`YZ]YZX^Xa\s]\ZgY`^cjwjYuYaYW^]VaYsYgYW^c\Ze\ZgY`^ cjYgY`YvgYrYag^br\WYX^]YZb`\vbr\WYabWuYZea^gY]s\srVZuY^r\Ze\aYvVYZa\]Z^]]bZaWb`babsYa^]w ‡r\WYabWz\Wz\]Y`r\ZeY`YsYZa\WvYgYr]YWY]a\W^Xa^]rWbX\XuYZeg^]\ZgY`^]YZTgYrYas\Z\ZaV]YZrYWYs\a\W rYWYs\a\Wr\Ze\ZgY`^cjX\xYWYxbzYxbzYg\ZeYZvYX^`uYZes\sVYX]YZw‚\sY]^Zz\W]\szYZeZuYX^Xa\s g^e^aY`TsY]Ys\sVZe]^Z]YZVZaV]r\ZeeVZYYZr\Ze\ZgY`^cjg\ZeYZz\WzYX^X]YZc„kwˆ\Ze\aYvV^]^Z\WqY gYW^X\zVYvr`YZaX\a^YrlY]aVX\xYWYYZgY`XYZeYa`Yvr\Za^ZeˆY]YgYW^^aVTg^r\W`V]YZrV`Y‰254Š5(%341 416#5(1piˆ{VZaV]gYrYas\ZebZaWb`gYZs\sbZ^abWZuYw‹ZaV]s\Ze\aYvV^gYZs\szV]a^]YZz\z\WYrY r\WsYXY`YvYZa\WX\zVagYZr\s\xYvYZZuYTsY]YrYgYaV`^XYZ^Z^Y]YZg^WYZxYZeX\zVYvYr`^]YX^iˆ r\Ze\ZgY`^cjuYZez\WzYX^Xc„krYgYX\zVYvX^sV`YabWr`YZabWg\wc„kuYZeg^eVZY]YZYgY`Yvc„kkcS„ g\ZeYZ416Œ5614(%X\zYeY^iˆZuYwiYX^`uYZea\`Yvg^r\Wb`\vXYYar\sz\zYZYZs\ZVZqV]]YZZ^`Y^ 915&9511666p\XX{a\eYZeYZs\Zg\]Ya^mwc\sz\W^YZr\sz\zYZYZs\ZeY]^zYa]YZr\ZVWVZYZgYW^Z^`Y^X\a

rb^ZawŽY]aVr\sV`^vYZXYYar\sz\zYZYZuY^aVX\]^aYWowg\a^]wc\ZeV]VWYZuYZeg^`Y]V]YZ^Z^s\srVZuY^ vYX^`uYZeXYsYg\ZeYZr\ZeV]VWYZuYZeg^`Y]V]YZg^iˆgYrYas\ZYsr^`]YZZuYX\xYWY615321w

~-?-1~3./8103256‘54’61†T[\eYZeYZTc\Ze\ZgY`^cjTc„kkcS„Tiˆ416Œ5614(%w

O“14”•–=9@}•1;}~}=}—1

c\Ze\ZgY`^ cj pcWbrbWX^bZY`Za\eWY` j\W^…Ya^…\{s\WVrY]YZXY`YvXYaVr\Ze\ZgY`^uYZe g^]\ZY``VYXgYZa\`Yva\WzV]a^g^^ZgVXaW^X\`YsY `\z^vgYW^aVqVvg\]Yg\wc\Ze\ZgY`^cjg^a\sV]YZ rYgYaYvVZS˜gYZXYsrY^X\]YWYZesYX^v s\WVrY]YZ r\Ze\ZgY`^ uYZe rY`^Ze zYZuY] g^eVZY]YZT`\z^vgYW^™m]\ZgY`^`Vra\WaVaVrg^ ^ZgVXaW^XYYa^Z^sYX^vg^gbs^ZYX^b`\vr\Ze\ZgY`^ cjw[YZeeYrYZ]\`VYWYZrYgYX\zVYv‘54uYZe a\WgYrYag^XVYaV^ZgVXaW^X\W^Zes\ZeY`Ys^ r\WVzYvYZpa^gY]XaYz^`{rYgYXYYaz\Wz\zYZT X\v^ZeeYg^zVaVv]YZr\Ze\ZgY`^YZwc\Ze\ZgY`^cj rYgYc„kuYZeg^eVZY]YZVZaV]s\Zee\ZgY`^]YZ YeYW]\`VYWYZr`YZaa\aYrXaYz^`rYgYz\zYZuYZe z\WVzYvVzYvw[\aYr^q^]Yr\ZebZaWb`YZvYZuY g^`Y]V]YZb`\vc„kT]bZg^X^gYW^X\zVYvr`YZa X\r\Wa^]\x\rYaYZTXVvVgYZ`Y^Z`Y^ZZuYa^gY]gYrYa g^]\aYvV^wiY`^Z^gYrYas\ZeVWYZe^gYW^]^Z\WqY r`YZaa\WX\zVa]YW\ZYr\W`VlY]aVuYZe`YsYVZaV] s\`Y]V]YZr\WzY^]YZYrYz^`Ya\WqYg^eYZeeVYZw‡`\v ]YW\ZY^aVVXYvYVZaV]s\Z^Ze]Ya]YZ]^Z\WqY gYZ]\YZgY`YZgYW^X\zVYvr`YZaYgY`Yvg\ZeYZ s\ZeeVZY]YZX^Xa\s0‘16š396&46›4 +55›(œ39334p‚kj{g\ZeYZiˆuYZe g^eVZY]YZYgY`Yv416Œ5614(%w

iY`uYZerY`^ZeWVs^agY`Ysr\WYZxYZeYZ r\Ze\ZgY`^cj^Y`Yv434)YaYVr\sz\W^YZ rYWYs\a\Wcpnr{Tpn^{TgYZjpng{YeYW

g^gYrYa]YZaYZeeYrYZX^Xa\suYZeg^^Ze^Z]YZw‚Y`Yv XYaVs\abg\uYZesVZxV`^Y`Yv434)z\WgYXYW sbg\`‘54"]YW\ZY^g\Za^y^]YX^r`YZazV]YZ`Ye^vY` uYZeXV`^aVZaV]g^`Y]V]YZw‚Y`YvXYaVq\Z^XZuY^Y`Yv (6š1615454uYZes\s\W`V]YZsbg\`‘54 X\z\ZYWZuYgYZsbg\`‘54uYZeg^^Ze^Z]YZVZaV] s\ZgYrYa]YZrYWYs\a\WcTTjgYW^r\Ze\ZgY`^wžŸ 

[VqVYZ aV`^XYZ ^Z^ YgY`Yv s\Ze\ZgY`^]YZ a\eYZeYZX^sV`YabWbWg\g\ZeYZr\Ze\ZgY`^ cWbrbWX^bZY` Za\eWY` gYZ j\W^…Ya^…\ pcj{ s\ZeeVZY]YZc„kkcS„YeYWa\aYr]bZXaYZrYgY XYYa r\sz\zYZYZ z\WVzYvVzYvw jYZ gYrYa g^]\ZgY`^]YZYaYVg^sbZ^abWb`\vˆ[‹X\WaY s\Ze]bsVZ^]YX^]YZg\ZeYZiˆŽbZg\WlYW\ Z[bVxvs\`Y`V^c„kkcS„w

E“1J9•N}–}•14–@J}~}1

E“O1@8A37-?BC147-.?1 1

*54s\WVrY]YZzYe^YZgYW^XVYaVX^Xa\s uYZeg^]\ZgY`^]YZwjY`YsXVYaVX^Xa\srYXa^ X\`Y`VYgYX\XVYaVuYZeg^]\ZgY`^]YZwcYgYz^gYZe a\]Z^]TX\XVYaVuYZeg^]\ZgY`^]YZa\WX\zVaYgY`Yv XVYaVX^Xa\sy^X^XuYZes\WVrY]YZX\]VsrV`YZ r\WYZe]Yas\]YZ^XT\`\]aW^XTrZ\VsYa^xTvugWYV`^xXw c\WYZe]Yar\WYZe]Ya a\WX\zVa X\W^Ze g^X\zVa vYWglYW\w

,-,.-/012345265214078-392/5:6-/:2;28<54 ;04-.56,245123=34<>;23?32@042,-39-320 :5.539232362/2403A2@03856;23B56856;04-.56 232@0428@236CD-;2391238-39-/6023403A2@065 4-3;0/02;2@2:.-42/23A239,-/582123E53940F2165C

G2/039238-353;2B/;-42654-/039;09532123 82;24046-,8-39-3;2@023B6B,2604A239,-,853A20 128240624A239.-/.-;2).-;2CD-.2920HB36B:I J2/03923030;095321234-.292040,5@26B/J2/03923 A239;01-3;2@01234-/62;095321234-.2920H2.239 5,823.2@01;2@2,/239120238-39-3;2@023A239 @2033A2CG2/039238-353;2B/;-)*;2826;09532123 4-.29204-.52:40,5@26B/;2/0J2/03923A2392123 ;01-3;2@0123;-39238-3;-12623A239.201;23J592 ;2826;095321234-.29208-39:5.539235,823.2@01C

K2,.2/L%54

D5265<542123,-,0@010,B;-@,26-,2601 8-3;-126234046-,B/;-LIJ0125J0403A2@91< 6239928231-@52/23<54,-3A-/58202625;2826 ;0;-1260;-39236239928234046-,B/;-4265C

K2,.2/*M23992823N/;-)LM-/:2;28O245123

01<

D5265<542123,-,0@010,B;-@,26-,2601 8-3;-126234046-,B/;-)*IJ0125J0403A2@91< 623992823B56856<54,-3A-/58202625;2826 ;0;-1260;-39236239928234046-,B/;-;52C M239928236/2340-362;2@2:6239928234046-, A239.-/@2394539;2/02F2@26248-/5.2:23,245123 26259239952342,8201-2;22321:0/26251B3;040 65321P915!951>C

K2,.2/CQM23992823M/2340-36R*S

T23912023 40,5@26B/ B/;-)* ,-/582123 92.53923;2/0;52.52:/2391202340,5@26B/B/ ;-4265A239;0/2391204-/0I;0.2F2:0302;2@2: 92,.2//2391202340,5@26B/B/;-)*C

K2,.2/UT23912023D0,5@26B/N/;-)*RQS

V0.2F2:030,-/58123.@B1;029/2,53651 /2391202340,5@26B/B/;-)*

K2,.2/+W@B1V029/2,T23912023N/;-)*R*S

D046-,1-3;2@0@BB86-/656584-/03912@0 ;04-.564046-,1-3;2@05,823.2@01CD046-,5,823 .2@010302;2@2:4046-,1-3;2@0A239,-392F240 30@20)30@201-@52/23A23921652@;23,-,.23;039123 292/6-62882;230@20)30@20A239;003903123I53651 1-,5;023,-395.2:4-6216526B/292/1-42@2:23 =-//B/>4-,2103;08-/1-H0@CD03A2@1-42@2:23=-//B/> ,-/5821234-@040:2362/2.-42/2391<34;-3923 .-42/2321652@3A2CD-@040:0302123 ,-,8-392/5:01B36/B@-/I53651,-39-@52/123 403A2@<933=,-,8-/H-8268-3H282023:2/92 9134$>262541$53=,-,8-/@2,.266-/H28203A2 :2/92A239;003903123>CX2;25,5,3A24046-, 1-3;2@0@BB86-/6565862:236-/:2;2892399523 ;2/0@52/4-:03992;2826,-391B,8-34240 1-60;216-82623;2@2,,B;-@8/B4-4I1-42@2:23 8-39515/23I;2392399523)923995236216-/515/C

K2,.2/YW@B1V029/2,D046-,Z-3;2@0[BB8 M-/65658

*CLCLX-39-3;2@0X'V

,-./012301304-5/4-2-673839:-.304/9/,-;2;0 1-7;01-0<=-5-,239-0>-01-0./.63,?8304-5/@= A-012395;4/5-8;8-0-4-5-B,301-6;92-9-,3639 C2?C/-6-;C4-1-96-011-2-0./0A-5835;-9-0 ./.63,639B-4-2,-.;8-06396306;.3.;-/4301-0 A-014//01/08-0<DEF

G-735HG-011-2-02301304-5/@=G39B-4-2 @39;7-B-0@-9-,3639

<H<I8./8J069J5

@-4-4-.-90A-?6;1-..37;-B2301J069J5 #11K5(J6J,-6/.6397-1/4-5-,4;-6-B-2?A-/6; ,3,7-04/018-04-0,301B/6;01<C34;-6;1-. 639.37;64/4-5-,4/-19-,75J84/L-8/5/J53B839: -92234)4(344-0839:-;0/68J069J5?.32396/ 6395/B-62-4-M-,7-9E<

M-,7-9E=/-19-,N5J8O/.63,@301J069J5-0P

Q/5-/./0A-58J069J52-4-2301304-5/83-9-B 837-5/8-04-9/0/5-/./0A-5835;-9-0<O3B/011-0/5-/ 8J069J5,3537/B/0/5-/O362J/06R-9/-753SORT ,-8-0/5-/399J9-8-07396-,7-B4-00/5-/835;-9-04-9/ 8J069J539-8-0,30;9;0.3B/011-0/5-/@R,30;9;0< G-011-2-0835;-9-04-2-64/5/B-62-4-1-,7-9U<

M-,7-9UV30;0:;88-0O/0A-5I06-9-N3.-9-0 C3.-5-B-0=301-0C35;-9-0./0A-58J069J5

WXWYZ[\]^_Y]`\ab_caYdefg_Yh[_icaY Y

=-5-,,36J43/0/?.3,;--5-68304-5/6/4-8 4/j;01./8-0<*544/739/,-.;8-091k4-0 835;-9-00A-4/938-,4-04/29J.3.<O3B/ 011-lmnopqrosttuvpwxtyz{|tt}xpmttuvpwxttm~mtlmnopqrost L-86;6;04-S15&321€trtlx~ty321(4954{ttt .32396/6395/B-62-4-1-,7-91-,7-9‚<=-9/ 834;-B-91-/0/4-038./6-./-0k54C.?83,;4/-0 4/6306;8-02-9-,36398304-5/;06;8,-./01 ,-./018J0j/1;9-./?7394-.-98-06-735ƒ13)1654 83(%9SG-735T<

M-,7-9‚@30-5--0V36J43„3-86-0C;9…3

G-735@30-5--0,36J43„3-86-0C;9…3D†F

Y

WX‡Yˆ‰ŠY Y

*6)65225K1‹)3(Œ4616S@ŽT-4-5-B 353,308304-5/A-01j;01./2301304-5/-00A-4-2-6 4/29J19-,.3.;-/832395;-0<@Ž,3,2;0A-/ :30/./4k-6-;k739;2-./0A-5=/1/6-54-0 -0-5J1<C3,-,2;-0,30A/,2-0/0.69;8.//0.69;8./ ;06;8 ,35-8.-0-8-0 j;01./ 8304-5/ -6-; ,35-8.-0-8-0.;-6;239/06-B839:-A-01 .38;30./-5?239B/6;01-0-9/6,-6/8?23,9J.3.-0 0;,39/8?.-9-0-8J,;0/8-./4-9/.;-6;29J.3.<

*,-,./012345367475128309:;5:;

<:04=>1?/01234@:6747512151=A:;704 B7A:>=5/012345367475128309:;5:;C/68D >:;E=04A7=05=@F:04@309:;A7@10>:A1;10101234 F:0G1B7>:A1;10B747512,H:410410101234I10451@ B7@:51?=7B7F1A=@@10@:B121FJ:04=>1?/68K B101@10F=0L=2@:2=1;10>70:;I104 >:;A104@=510, :2=1;10 >70:; 5:;A:>=5 1@10 >:;>10B7042=;=AB:0410F1A=@10101234 <1;1F:5:;I104J:05704B1;7A=15=/68 B7A1FJ704M1@5=@309:;A70I1KI175=;:A32=A7, N:A32=A71B121?>:A1;101012345:;@:L72I104 F1A7?B1J15B7@309:;A7@10F:0G1B7A70I12B747512, O:A1;;:A32=A77075:;4105=04B1;7G=F21?>75B1;7 /68,P:F1@70>10I1@>75/68K;:A32=A7A:F1@70 @:L72KB10J;3A:A@309:;A7A:F1@705:2757,

*,-,*674751253/012348309:;5:;

674751253/012348309:;5:;C6/8D F:;=J1@10@:>127@10B1;7/68,6/81B121? J:04?=>=041051;1;104@1710B747512B:0410 ;104@1710101234,6/8J1B1B1A1;0I1 F:04@309:;A7F1A=@10C>:;=J1>7210410>70:;D@: B121FA=15=>:A1;10E7A7@K>71A10I1>:;=J1 5:410410A=15=5:41041027A5;7@,Q:>10I1@10 A7A5:FF:0:;7F1A=15=@151B747512A:>1417A70I12 F1A=@B10F:05:;G:F1?@10151=F:04=>1?0I1 F:0G1B75:410410151=1;=A101234,Q309:;5:; B747512)@:)101234 C6/8D F:;:J;:A:051A7@10 P7A5:FP8/6/7121?A7A5:FI104B1J15 F:21@=@10J:041M1A10KJ:04:0B12710B101@=7A7A7 B1515:;?1B1JA:>=1?Z54,6121F5:;F703234I L305;32K9Z16[396!#46A:;704F:041L=J1B1 @305;32I10457B1@2104A=04K01F=02:>7?J1B1 E=04A7@33;B701A7B10J:041M1A10,6:0410@1512170K J:04:0B127=51F15:51JB7J:410432:?<d8C151= J:04:0B12721700I1DA:B104L305;32J1B1P8/6/ ?10I1>:;A7E15@33;B70157EB10A:@=0B:;,

*,`,.ef'

g254h5# 3414165#1Cef'D1B121?A7A5:F I104F:04?=>=04@101051;1F10=A71B105:@032347 F:A70,ef'B1J15>:;=J1J:04:0B127B1097A=127A1A7 A515=A>17@B:0410F10=12F1=J=0F:212=7 97A=127A1A7@3FJ=5:;I104>:;A7E15;:1257F:,H=41A B1;7g254h5# 3414165#1Cef'DI175= F:F>=1597A=127A1A7B1;75:@032347151=A7A5:F A:L1;10I151,P:?70441B:0410B:A170ef'B1J15 B7A:A=17@10A:?70441F:F=B1?@10J:@:;G110E7A7@,

H=G=10B1;7ef'1B121?=05=@F:0704@15@10 705:;1@A71051;1F:A70B103J:;153;F:212=751FJ7210 21I1;@3FJ=5:;B10F:F:0=?7@:>=5=?10J:044=01 5:;?1B1J70E3;F1A7A7A5:F,

ef'F:;=J1@10>14710J:05704B1;7A7A5:F P8/6/,P:L1;1A:B:;?101ef'>:;E=04A7 ijklmlnopjqklrlstuklmnuqlsvinluwxyjzlrxz{uvsrv|u F:F1?1F7J;3A:AI1045:;G1B7J1B1F:A70,H10J1 ef'KF10=A711@10@:A=27510B121FF:41M1A7B10 F:04:0B127@10F:A705:;A:>=5,

P:>:2=F:;1@3FJ=5:;K>71A10I1A=15=ef'1@10 >:;>:05=@>:;>1417101234B7AJ21II104B72:51@10 J1B1J10:25:;5:05=,/@7>150I1A:F1@70@3FJ2:@A A=15=A7A5:F151=Z54KA:F1@70>10I1@G=41J10:2 I104B74=01@10,P:B104@10J1B1:;1@3FJ=5:; A:@1;104707K@:>=5=?10ef'2:>7?>10I1@ I104F:0B1A1;7@:A:2=;=?10J;34;1FP8/6/ 1B121?„30B:;M1;:'0H3=L?,<1B1B1A1;0I1K4 ef'J:04:0B127<'6>:;>1A7A<d8J1B1A7F=2153; 3;B:)* B:0410 F:0:;1J@10 A7A5:F P8/6/K A:?70441Z54707B1J15B7@305;32B:0410 F:044=01@10@3FJ=5:;A:571JM1@5=0I1,

<:0:275710B1;7J:;10L104107071B121?ˆ

.Df:;10L104 56…561B109…561J:04:0B127 <'6I104>:;>1A7A<d88<.dJ1B1A7F=2153; 3;B:)*,

*Df:04:0B127@105:410410A7F=2153;J21053;B:)* B:0410J:04:0B127<'6F:044=01@10<d88<.d 141;5:51J@30A510J1B1A115J:F>:>1010>:;=>1?) =>1?,

-Df:04@3F=07@1A7@10ef'416…5614# B:0410<d88<.d141;J2105B7NH†B1J15 B7@:0B127@10151=5:;F30753;32:?fH†B7ef',

,-./01234546734/ /

89:9;<;=>?9@A<B9;<CD@>EF>E:9A<8G H>IH9;<; 8JK @9:9 ;<?LA9=MI MI:> N9EF :<I>EO9E9B9E<E<P=>I:9@9=H>H>I9@99A9=N9EF ?>?<A<B<QLEF;<H>IH>:9N9EF:<I9EO9EF:9A9?;9=L ;<;=>?R S>I<BL= ?>IL@9B9E ;@>;<Q<B9;< N9EF :<I>EO9E9B9E:9I<9A9=N9EF9B9E:<I>9A<;9;<B9E ?>A<@L=<T

U9H>AVW@>;<Q<B9;<XA9=G9I<W<;=>?YZ[

,-\/]2^7_`7_a7_/043b2c/

8>I9EO9EF9E;<;=>?B>;>ALILd9E:9I<@IMN>B 9Bd<I<E<9:9A9d:<e>A9;B9E:9A9?HAMB:<9FI9? :<H9f9d<E<

g9?H9Ihh8>I9EO9EF9E

W<;=>?N9EF:<I9EFO9EF<E<9:9A9d;>HL9d 9@A<B9;<CD@>EF>E:9A<@9:9;<?LA9=MIMI:>

:>EF9E?>EFFLE9B9E@>EF>E:9A<8G:>EF9E H>IH9;<;8JKRW<;=>?<E<=>I:9@9=:<iUjh@9:9 ;<;=>?WKXGX;>;L9<:>EF9EHAMB:<9FI9?@9:9 F9?H9IhhRU>F9EF9EML=@L=@9:9;>HL9d@A9E= ;>I<EF?>EF9A9?<@>ILH9d9Ek=<:9B;=9H<Al@9:9;99= H>IH>H9E9=9L@LE;99=H>H9E:<A>@9;RW<;=>? @>EF>E:9A<8G<E<A9dN9EFE9E=<EN9:<FLE9B9E LE=LB?>EF9=LIML=@L=@A9E=N9EFH>IL@9 =>F9EF9E9F9I=>=9@;=9H<A;99=:<H>I<H>H9E9=9L;99= H>H9E:<A>@9;R

G9=9N9EF=>I:9@9=@9:9;<;=>?<E<N9EF?>Ee9:< ;<?LA9;<:9I<iUj;<;=>?WKXGXP9B9E:<B<I<? A9EF;LEFB>DUj:>EF9EO9I9?>EFdLHLEFB9E 8JK:<iUj:>EF9E8JK:<DUj?>EFFLE9B9E B9H>AjU8iWmnRG9=9N9EF:<=>I<?9MA>d8JK :<DUj9B9E9B9E:<MA9d:9E:<=9?@<AB9EMA>dCD oME:>If9I>EUMLOd@9:9A9N9I8K:>EF9EO9I9 ?>EFdLHLEFB9E 8JK :< DUj :>EF9E 8K ?>EFFLE9B9EB9H>Ap=d>IE>=iqmnR

r-/]stuvwxyt/zyt/]s{|y}y0yt/

RjE=LB?>EF>=9dL<9@9B9dB<E>Ie99A9= =>I;>HL==>A9d;>;L9<:>EF9E;@>;<Q<B9;<N9EF :<<EF<EB9E?9B9P:<A9BLB9E@>EFLBLI9E:>EF9E DKKGX~@9:9GXWA9H@>EFLe<9E:>EF9E ?>EF9OL@9:9B9I9B=>I<;=<B=>MI<=<;9A9==>I;>HL=R 9RD>EFLe<B9I9B=>I<;=<B;<?LA9=MI@A9E=MI:> R

HRD>EFLe<B9I9B=>I<;=<B@>EF>E:9A<9E=>Id9:9@ €54

ORD>EF9E9A<;9:9=9d9;<A@>EFLe<9ER

r-./]2_a‚47_/34cƒ7b„^/1ƒ7_b/„^…2†\/ /

8>EFLe<9E%56‡561:<A9BLB9ELE=LB:9@9= ?>EF>=9dL<B9I9B=>I<;=<B:9I<;<?LA9=MI@A9E=MI:> N9EF=>A9d:<HL9=RC9;<A@>EFLe<9E;<?LA9=MI€54 MI:>:<@>IA<d9=B9E@9:9F9?H9IhV:9EI9EFB9<9E d9I:f9I>;<?L=MIEN9@9:9F9?H9IhR

,-./-01*2-3456789:;4-8<4.:5-=>065-8=?1@

6789:;4-8A45-B:B-8.75-5:4/7/70 -C-=-D-C-8:8=:B.7.C70>57DA-=-)A-=-E-89 A4C705:B-89:8-.7897=-D:4B-0-B=7043=4B-5-= E-89=75-DA4/:-=F

GHIJKLMNOPQRMJSTUVWXYZ[

6789:;4-89\561A45-B:B-8:8=:BA-C-= .7897=-D:4 B>8]7034 A7^4.-5 A789-8 9-48 C78978A-54A-04_`a.-:C:8`_ab=-/57Gc370= -.789-.-=4=-899-C-8C78978A-546'`F2-345 8E-A-C-=A454D-=C-A-9-./-01dF

e-/75Gf>8]7034A7^4.-5B79-48C78978A-54

,-./-01de-899-C-8678978A-54678978A-54

_8-543-g

1Fh4B-845-4A734.-5C-A-C0>90-.37.-B48/73-0 .-B-845-4fC-B-837.-B48B7^45A-8 37/-54B8E-C-A-845-4e4A-8eAi37.-B48/73-0 845-4A734.-5C-A-C0>90-.i.-B-845-4e4A-8eA C:837.-B48/73-0F

*F<7.-B48j73-0845-4C789:-= -8fC.-B-37.-B48=48994C:5-B75:-0-8C78978A-54373:-4 A789-8/73-0C789:-=-8E-F

dF<7.-B48B7^45845-4e4.-B-37.-B48^7C-= =-899-C-8bB75:-0-8C78978A-5437.-B48 5-8A-4cF

GF<7.-B48f7^45845-4eA.-B-=-899-C-8-k-5 -B-837.-B48^7C-=A-857/4D=707A-. B78-4B-88E-F

lHmJKLMNOPQRMJnQnoLpJ J

6789:;4-8343=7.A43484-A-5-DC789:;4-8E-89 A45-B:B-8C-A-343=7.37^-0-B7375:0:D-8E-4=: A789-8.7899-/:89B-8-8=-0- 56\561A789-8 9\561E-89=75-DA4/:-=A-8A4:;437/75:.8E-F 1F678-5--8C-0-.7=70fCie4iA-8eAA789-8

.7899:8-B-8.7=>A7q479570r4^D>53F2-345 C78-5--8A4A-C-=r45-4fCie4i A-8eAC-A-C-0-.7=706'`iE-4=:gfCsGFtie4s*A7=4BiA-8 eAsuFvA7=4BF2-345=7037/:=:8=:B.78-5 -C-0-.7=70C78978A-546'`C-A-343=7.B78A-54 5:C=70=:=:CE-89A4C7054D-=B-8A4=-899-C-8 9-./-01Gb678978A-54-86ci9-./-01v b678978A-54-86'ciA-89-./-01wb678978A-54-8 6'`cF

,-./-0123-4567-899-:-8;<89<8=-65-8;

,-./-01>3-4567-899-:-8;<89<8=-65-8;

,-./-01?3-4567-899-:-8;<89<8=-65-8;@

;<89AB5-8=5-7-4=56-CAC-8A87AC.<89<7-DA5 :<89-0AD:-0-.<7<0:<89<8=-65;@7<0D-=-: 7-899-:-8EA7:A745.A6-7E0:6-87E0=<F4--7 =5/<05/</-8.-A:A84--775=-C/<0/</-8G FG3-456 ;<89AB5-8 ;<89<8=-65-8 ;@

:-=-45.A6-7E0:6-87E0=<F=<89-83HI-89 =5:<065D-7C-8:-=-9-./-01JG

,-./-01J3-4567-899-:-8;<89<8=-65-8;@ =<89-83H

K8-65454L

1G@<89-8-=-8I-;@M7-899-:-8EA7:A7-N-6 4<.-C58O<:-7=-8P169%=-057-899-:-8 -C-8/<0CA0-89/-DC-8/54-4-89-7C<O56C-0 <8-:<89<8=-65@<05Q-75R.<0<=-.P169%=-8 .<.:<0O<:-77-899-:-8-N-6GS<6-5857AM4--7 :<./</-8-8=56-CAC-87<9-89-8EA7:A7 4<.:-77A0A88-.A87<9-89-87<04</A7 C<./-658-5C4<:<075C<75C-4</<6A. =56-CAC-8:<./</-8-8MC-0<8-:<89<8=-65; .<89CE0<C45856-5<00E0T9-./-01>UGS<4A-5 =<89-89-./-01?7-899-:-8=-8=-7-I-89 =5=-:-7M6-.-N-C7A.<8ABAC<47-/56-8T0134) 321VW4UI-89:-65896-.-4<7<6-D=5/<05 :<./</-8-8I-57AG>=<75C:-=-:<./</-8-8F QE67GS<6-5857A=-:-7=5C<7-DA5:A6- /-DN-4<.-C58/<4-0856-59-899A-8M.-C-<00E0-C-8 7<7-:C<O56/-DC-8.<8=<C-75856-5XMI-57A GFX:-=-4--7856-57<9-89-8EA7:A7C<./-65 47-/56G

FG;-=-9-./-01JM=<89-84547<.CE.A85C-45 .<899A8-C-8YS2Z>-87-0-YW[=-8HW[M .-C-HW[=-:-7.<89-N-45CE8=545=-05 \54;<89ACA0-8I-89=56-CAC-8=5YW[ .<.:A8I-5D-456I-894-.-=<89-8 :<89ACA0-8I-89=56-CAC-8=5HW[=-83H ]E8=<0N-0<=-:-7.<8-.:56C-84<O-0-615 321G

^_`abcdefghij` L

1Gk-0-C7<05475C:6-87E0=<F-=-6-D7<0=-:-7 8I-15&321:-=-EA7:A7A87AC.<8O-:-5D-0 9-:A8O-C:-=-4--7=5/<0591\34\G

FGl5C-856-5=<45.-6:-=-:0E90-.=5;mn4<.-C58 /<4-0.-C-856-5k:-C-84<.-C58C<O56=-8 4</-65C8I-:-=-856-5W5=-8W=M4<.-C58/<4-0 856-5=<45.-6:-=-:0E90-.M.-C-856-5W5=-8W= :A84<.-C58/<4-0G

,-./-0123456710289-,8:3;1.<112/3=->3 9-,=-=1.1.91:3.?=-<1>@A1328BCD:2 /3:10801.<-0321>E*6F/-2306G-,103.=-<1> .3:13=-=1.A1.?/3=->301.@,101H1028 9-,8:3;1.101.<-,103.:1,16

I6J-.?808>1.A1.?/3:10801./3KLM ,-,98.A13;1<3:A1.?<1,1/-.?1. 9-.?808>1.A1.?/3:10801./3NLM/1.ON' 7D./->H1>-'.LD8P;/1912,-.1,93:01. <-P1>1615321

Q

RSTUSVQWXYUSZSQ Q

[+\]8?>D;D^8/3A1.2D@_0D6`"54#54$54$4 03256%54a6154%54a61 &14$54%14$354b14$$45544616% 16c5939%def6^1./8.?gJD:32-0.30]-?->3 ^1./8.?6B4+46

[B\h?121@i6@jb164e46k4$3411634$ 36 1334lmnopqrstuqnvwxxmnyqzn{qp|q}6+~~6 [*\N8<2D€1@=/8>D;,1.6`"54#54$54$4

03256a61%55 %14$145354 &14$54%14$1453%&16c5939d5c‚kf6 ^1./8.?gJD:32-0.30]-?->3^1./8.?6B4++6 [I\73P10<D.D@O1./A6`0eƒ&ƒ0„56114$54

416„561 4# f6 …>1;1 ':,8 g †D?A101>216B4+B6

[F\N-2D/-‡3-?:->)]3P;D:<91/1G3<2-,iD.2>D: G->CDJD<3<3^->=1<3<iD,982->'^N)Jˆ@ _:-02>D'./D.-<31@+~~‰6O229gŠŠHHH6-:-02>D) 3./D.-<316PD,Š-:-02>D./+F6;2,:Š

[‹\h,>D.@jaŒ165342545e%de bƒ&545$Ža439%6$65225c1 e4616aŒ16534b545lnmn‘’y“B4+B6 [\^D:2D.@76j”r|sp•–qrswst—rnwr˜n™—rsp—xnš}|sq–n