(b) Ziegler-Nichols method

To find Ku and Pu, use Routh’s test approach,

Characteristic equation:-
1+H(s) = 0
𝐾𝑐𝐺(𝑠)
Let H(s) = 0.95𝑠+1
𝐾𝑐𝐺(𝑠)
1+0.96𝑠+1 =0
0.6947𝐾𝑐
1+ =0
(0.95𝑠+1)(106.015𝑠 2 +20.559𝑠+1)

(0.95s+1) (106.015𝑠 2 + 20.559𝑠 + 1) + 0.6947Kc = 0

100.71𝑠 3 + 19.532𝑠 2 + 0.95𝑠 + 106.01𝑠 2 + 20.56𝑠 + 1 + 0.06947𝐾𝑐 = 0
100.71𝑠 3 + 125.54𝑠 2 + 21.51𝑠 + (1 + 0.6947𝐾𝑐) = 0
Row
1 100.71 21.51
2 125.54 1+0.6947Kc
3 𝑏1 -
4 𝑐1 -
𝑎1 𝑎2 − 𝑎3 𝑎0
𝑏1 =
𝑎1
(125.54)(21.51) − (100.71)(1 + 0.694𝐾𝑐)
𝑏1 =
125.54
2700.37 − 100.71 − 69.96𝐾𝑐
=
125.54
2599.66 − 69.96𝐾𝑐
=
125.54
= 20.71-0.557Kc
 𝑏1 𝑎3 − 𝑎1 𝑏2
𝑐1 =
𝑏1
(20.71 − 0.557𝐾𝑐)(1 + 0.6954𝐾𝑐) − (125.54)(0)
=
20.71 − 0.557𝐾𝑐
20.71−13.83𝐾𝑐 2 −0.557𝐾𝑐
=
20.71−0.557𝐾𝑐
For stability, 𝑏1 = 0
20.71-0.557Kc=0
20.71=0.557Kc
Ku=Kc=37.18

For stability, 𝑐1 = 0
20.71−13.83𝐾𝑐 2 −0.557𝐾𝑐
=0
20.71−0.557𝐾𝑐

20.71 − 13.83𝐾𝑐 2 − 0.557𝐾𝑐 = 0

Kc=-1.24 (<0) *cannot applied

For Kc,
P Controller Kc = 0.5Ku = 0.5(37.18) = 18.59
PI Controller Kc = 0.45Ku = 0.45(37.18) = 16.73
PID Controller Kc = 0.6Ku = 0.6(37.18) = 22.31

For 𝜏𝐼 ,
PI Controller 𝑃𝑢 13.533
𝜏𝐼 = = = 11.278
1.2 1.2
PID Controller 𝑃𝑢 13.533
𝜏𝐼 = = = 6.767
2 2

For 𝜏𝐷 ,
PID Controller 𝑃𝑢 13.533
𝜏𝐷 = = = 1.692
8 28
For I,
PI Controller 𝐾𝑐 16.73
𝐼= = = 1.483
𝜏𝐼 11.278
PID Controller 𝐾𝑐 22.31
𝐼= = = 3.297
𝜏𝐼 6.767
For D,
PID Controller 𝐷 = 𝐾𝑐 𝜏𝐷 = 22.37(1.692) = 37.84

Overall,
Controller Kc I D
P 18.59 - -
PI 16.73 1.483 -
PID 22.31 3.297 37.84

From the graph,

Peak 1 → 𝑇1 = 7.645
Peak 2 → 𝑇2 = 21.178
Thus,
𝑃𝑢 = ∆T = 13.533