Conventional Controller Design

1. PI Controller using Ziegler Nichols Tuning with the results of the first step test experiment:
   • Kc = 19.75
   • $\tau _i$ = 18

2. PID Controller using Ziegler Nichols Tuning with the results of the first step test experiment:
   • Kc = 26.327
   • $\tau _i$ = 12
   • $\tau _d$ = 3

3. PI Controller Using Direct Synthesis with the results of the second step test experiment ($\tau_{cl}$ is taken as $\tau _p$/2):
   • Kc = 4.02
   • $\tau _i$ = 52.645