PROCEDURE

PART A
1. PID controller has been determined in MATLAB using the direct transfer function

2. PID object was changed to transfer function and found the same results as above.

3. The goal of solving this problem shows that each of KP, Ki, Kd has been use to obtain Fast rise time, Minimum overshoot and No steady state error.

4. Open-loop step response were reviewed. A new m-file has been made and the following code was running.

5. The observation has been made based on the output graph.

PART B
1. The closed loop transfer function of the above system with a proportional controller is:= 2. Proportional gain (Kp) is equal 300 and was changed in the m-file as follows:

3. Observation based on the output graph has been made.

PART C
1. Close loop transfer function with a PI control has been given:= 2. Kp values reduced to 30, and the value of Ki is equal 70. A new m-file has been created and following commands were put.

3. The m file was running in MATLAB command window and the following plot has been determined.

PART D
1. Close loop transfer function with a PID controller has been given is:=

2. Several trial and error runs has been made, the gains Kp = 350, Ki = 300, and Kd = 50 provided the desired response. The following command has been entered to m file and was running in command window to confirm. The following step response was obtained.

3. The m file was running in MATLAB command window and determination based on following graph has been made.