Design of Optimal PID Controller with 𝜺-Routh Stability for Different Processes

Figure 14

Experimental response of the CWTS with the PID controller 𝑘^∗_𝑝=10.000, 𝑘^∗_𝑖=0.32549, 𝑘^∗_𝑑=0.001, and 𝜀=0 in set point 300 mm.