In 1903, Ki Ageng Soerodiwirjo laid the groundwork for a Pentjak Silat Setia Hati style.

Previously he called the Physical / Movement of his Pentjak Silat Djojo Gendilo Tjipto Muljo and the Spiritual called Sedulur Tunggal Ketjer , in Kampoeng Tambak Gringsing, Surabaya. In 1917 Ki Ageng Soerodiwirjo moved to Madiun and establish his style named the Persaudaraan Setia Hati in Desa Winongo, Madiun.

In 1903, Ki Ageng Soerodiwirjo laid the groundwork for a Pentjak Silat Setia Hati style. Previously he called the Physical / Movement of his Pentjak Silat Djojo Gendilo Tjipto Muljo and the Spiritual called Sedulur Tunggal Ketjer , in Kampoeng Tambak Gringsing, Surabaya. In 1917 Ki Ageng Soerodiwirjo moved to Madiun and establish his style named the Persaudaraan Setia Hati in Desa Winongo, Madiun.
The Persaudaraan Setia Hati is not an organization, it just a brotherhood among the student (kadang), as at that time the Pencak Silat organization was not allowed by Dutch Colonialism. Setia Hati means Faithful Heart.
Soerodiwirjo was born to an aristocratic family in Madiun, East Java, Indonesia, in the last quarter of the 19th Century. He was eventually dubbed a Ngabei, an exclusive aristocratic title extended by the Sultan only to those who have proven themselves spiritually worthy. He lived and worked in various locations on both Java and Sumatra, were he studied diverse styles of Pentjak Silat. On Sumatra, he also studied under a spiritual teacher. The combination of this spiritual teaching (kebatinan) and that which he had distilled from the diverse fighting arts styles formed the basis for Setia Hati. Ki Ageng Hadji Soerodiwirjo died on 10 November 1944 in Madiun.

In 1922, Hardjo Oetomo (1883-1952), a follower of the Setia Hati style, ask permission of Ki Ageng Soerodiwirjo to establish the Setia Hati School for younger generation and was permitted by Ki Ageng Soerodiwirjo, but has to be in different name.