K 1.

84

2.85

0.423

Ziegler Nichols
1.84 1 0.5 0.423 s
1 Kc
2.85 s 1 1 0.5 0.423 s

2
( 2.85 s 1) ( 1 0.5 0.423 s ) Kc 1.84 ( 1 0.5 0.423 s ) simplify 1.84 Kc 3.0615s
0.602775s
0.38916Kc
s 1.0

2
1.84 Kc 1 s ( 3.06 0.389Kc
) 0.603s

s j w

2
0.603 ( 3.06 0.389Kc
) j w ( 1.84 Kc 1)

3.06
Kcu 7.866
0.389

5
Given

2
0.603 ( 1.84 Kcu 1) 0

Find( ) 5.066

2
Pu 1.24
5.066

Kc 0.6Kcu
4.72
Pu
I 0.62
2
Pu
D 0.155
8

IMC

0.5
Kc 2.622
K 1.5
 I 0.5 3.062

D 0.197
2

ITAE

0.85
0.965
Kc 2.654
K

I 3.681
0.796 0.1465



0.929
0.308
D 0.018

Cohen and Coon

5.018
4
Kc
K 3 4

32 6

I

0.981

13 8

4
D 0.15
11 2