• From graph,

Rise time is about 1 second and settling time is 1.5 seconds and steady
state error is 0.95 (Tf function is 0.05 = 1-0.05)

To reduce the rise time, settling time and steady state error we design a
controller

PROPORTIONAL CONTROL

• Let Kp=300
Output Result:
Reduced both the rise time and the
steady-state error, increased the
overshoot, and decreased the settling
time
 PD controller

Kp=300,Kd=100

Reduced both the overshoot and the settling time, and had a negligible effect on the
rise time and the steady-state error
PI controller

Kp=30, Ki=70

Reduces the rise time and increases the overshoot, eliminate steady state error
PID Controller