Consider the system with where K1 = 1.5 and T 0.001 second, which may be neglected.

Consider the system with

where K1 = 1.5 and T ‰ˆ 0.001 second, which may be neglected. (Check this later in the design process.) Select a PID controller so that the settling time (with a 2% criterion) for a step input is less than 1 second and the overshoot is less than 10%. Also, the effect of a disturbance at the output must be reduced to less than 5% of the magnitude of the disturbance. Select ωn. and use the ITAE design method.

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(Ts 1)