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Abstrak Dalam penelitian ini diimplementasikan sebuah teknik robot bergerak yang berkaitan dengan kesetimbangan pada media tidak stabil. Tujuannya adalah merancang dan mengimplemntasikan sebuah sistem control diskrit digital yang  memberikan stabilitas yang diperlukan. Kontrol PID dan Algoritma filter Kalman  menjadi implementasi pengujian ideal model robot ini. Kedua algoritma tersebut  mampu meningkatkan performa control pada sistem. Penelitian ini menguji kinerja sistem control PID dan Algoritma filter Kalman. Uji software dilakukan untuk mengumpulkan hasil kinerja kedua Algoritma kontroler PID dan Filter Kalman. Kinerja sistem kontrol secara langsung tergantung pada Algoritma filter Kalman dan parameter masukan controller PID. Penelitian ini menggunakan EnKF dan PID controller sebagai algoritma penyeimbang robot. Dilakukan tunning manual pada kovarian filter. Percobaan dilakukan dengan metode trial and error dengan mengubah-ubah matrik kovarian noise proses. Overshoot sistem bisa dikurangi dengan cara mengatur matrik kovarian noise proses. Dari hasil percobaan sistem optimal pada Q_accelerometer : 0.001, Q_gyroscope : 0.05, R_pengukuran : 0.03,  P = 1790.005, I = 0.129 dan D = 96.881. Kata kunci : Ensemble Kalman, Kontroler PID, Performansi, Robot Abstract One technique that is commonly used for mobile robots is an inverted pendulum based model. This research has been implementing a mobile robot technique in an unstable environment. The goal is to design and implementing a discrete digital control system that will provide robot stability. The PID controller algorithm and Ensemble Kalman filter (EnKF) implementation would be an ideal test model of this robot. Both of these algorithms are able to improve the performance of control systems. This robot already tested the performance of the PID control system and the EnKF algorithm. The performance of the PID controller algorithm and EnKF is tested by software. The Control system performance is directly dependent on the EnKF algorithm and input parameters of PID controller. Research uses EnKF algorithm and PID controller as a balancing robot. The covariance filter tuned by manually. Experiments carried out by the method of trial and error by varying the process noise covariance matrix. The system overshoot can be reduced by processing noise covariance matrix. The experiment results showed system optimal on Q_accelerometer: 0001, Q_gyroscope: 0.05 R_measurement: 12:03, P = 1790,005, I = 0.129 and D = 96 881. Keywords : Ensemble Kalman, Kontroler PID, Performan ce, Robots

Uji Performansi Ensemble Kalman Filter Untuk Mengurangi Noise Pengukuran Sensor Pada Robot