SYSTEM TRANSFER FUNCTION:

126
Tf= ------------------------s^3 + 16 s^2 + 81 s + 126
Closed Loop Transfer Function:

We have to find Kp0 so that the close loop system

becomes marginally stable.
Using root locus, we find that for kp0=9.2857, the system
becomes marginally stable.
We have
Kp0=9.2857
The roots are:
-16.0000
0.0000 + 9.0000i
0.0000 - 9.0000i
0=9

T0=2*/0
T0=0.6981
So, now we design the three compensators

P compensator
Kp=0.5*Kp0
Kp=4.64285

Pole-Zero Map
8

Imaginary Axis

-2

-4

-6

-8
-14

-12

-10

-8

-6

-4
Real Axis

PI compensator
Kp=0.45*Kp0
Ti=0.83*T0
Kp=4.178565
Ti=0.58
Ki=Kp/Ti=4.17/0.58=7.19

-2

Pole-Zero Map
8

Imaginary Axis

-2

-4

-6

-8
-14

-12

-10

-8

-6

-4
Real Axis

-2

PID compensator
Kp=0.6*Kp0=5.571
Ti=0.5*T0=0.35
Td=0.125*T0=0.0872
Kd=Kp*Td=0.4857
Ki=Kp/Ti=15.9171

Now we show the difference between the compensators with

respect to parameters given below.

Settling time
%overshoot
Final value
Steady state error

P
Compensator
3.3
54.4
0.82
0.18

PI
Compensator
6.43
60.4
1
0

PID
Compensator
8.52
74.1
0.877
0.23