Design of PI Controllers for Hydraulic Control Systems

Table 2

Comparative presentation of the results of design of the PI controller with performances for three methods.

Method	𝐾𝑝	𝐾𝑖	Overshoot (%)	Settling time 𝑡𝑠 (ms)	Phase margin 𝜑𝑚  (degrees)	Gain margin 𝑔𝑚	Stability margin 𝑠𝑚
Ziegler-Nichols (ZN)	13.6775	341.8875	62.3	148	28	1.89	0.48
Tyreus-Luyben (TL)	9.4379	89.3741	13.6	195	54.6	3.05	0.62
Proposed method (PM)	10.78	57.15	9.98	72	56.5	2.74	0.64