Tuning a PID Controller I have the following transfer function
$$10000 \cdot\frac{(s-0.012)(s+1.05)(s-18)}{(s+0.22)^2(s+45)(s+1000)}$$
For which I am trying to tune a PID controller for. I'm using the pidTuner in MATLAB to do so. I wish to have the settle time be less than 3 seconds if possible, however, the best I have been able to do is 77 seconds with the settings $K_p = 0.049955$, $K_i = 0.0087525$ and $K_d=0$. At these values, going in any direction seems to increase the settling time more. Any help would be really great!
You have 2 right-half plane zeroes : 0.012 and 18. The zero at +18 is &quot;fast&quot; and will not affect the performance much, but your slow zero at 0.012 will severely limit your performance. You can't cancel this right-half plane zero with a right-half plane pole in your controller, your controller output will be unbounded.
Is this homework or a real life problem?