-1.12 s + 3.

15
1.00 s2 4.64 s

divide by 5.3821

-0.21 s + 0.58
0.19 s2 0.86 s

factorize nominator

-0.58 [ 0.35 s +
0.19 s2 0.86 s

comparing

0.19 equal to t1.t2

0 equal to t1.t2 - 0.1858

0.86 equal to t1 + t2
0.00 equal to t1 + t2 - 0.86

using simultaneous equation

t1 t2 LHS
0.4316 0.4304 0.00
0.00

calculator 0.4476 0.4151

Direct Synthesis method

t1 = 0.4316
t2 = 0.4304
ta = 0.3549
tc = 0.1000
K= -0.5848

Finding Kc Finding ti
nominator nominator

1st term = 0.0011 1st term =

2nd term = 0.1858 2nd term =
3rd term = 0.3060 3rd term =
4th term = -0.0549 4th term =
5th term = 0.0010 5th term =

denominator =
= -0.0166 denominator =
1st term =
KKc = 0.0067 2nd term =
-0.0166
KKc = -0.4023
ti =
Kc = 0.6880

ti =
1/ti =

Internal Model Control Method

0.58 [ -0.35 s +
0.19 s2 0.86 s

t^2 = 0.19 Kp = 0.58

t= 0.4310
B= 0.35

2*zeta*t = 0.86
zeta = 1.001

Therefore,

Assume lambda = 5

Kc = 0.2755
ti = 0.8627
1/ti = 1.1592

td = 0.2154

Controller Tuning

Ziegler-Nichols
Divide 4 Divide 16
Kc 0.2
Ti 0.95 0.2375
Td 0.23 0.0575 0.0144

Direct Synthesis

Kc 0.6880
Ti 1.1501 0.2875
Td 0.5348 0.1337 0.0334

Internal Model Control

Kc 0.2755
Ti 0.8627 0.2157
Td 0.2154 0.0538 0.0135
 5.38

1] same as
1.00

(1)

(2)
 Finding td
nominator

0.0011 1st term = -0.0005

0.1858 2nd term = 0.0056
0.3060 3rd term = -0.0036
-0.0549
0.0010

minator = denominator
0.1858 1st term = 0.0106
0.1800 2nd term = 0.1858
3rd term = 0.3060
4th term = -0.0549
0.0067 5th term = 0.0010
0.0058
td = 0.0087
1.1501 0.0162
0.8695
td = 0.5348

1]
1.00
Controller Tuning

Old New
Ziegler-Nichols

Kc 0.2 0.6
Ti 0.95
Td 0.23 0.0144

Direct Synthesis

Kc 0.6880 1.3760
Ti 1.1501
Td 0.5348 0.0334

Internal Model Control

Kc 0.2755 0.8265
Ti 0.8627
Td 0.2154 0.0135
K (ta.s + 1)
(t1.s +1)(t2.s + 1 )

K(ta.s + 1)
t1.t2.s^2 + s(t1+t2) + 1