2. Motor
+-Control signal

3. MotorPWMPID
A/D sensor
Referance
value

4. PID
.-Rise time (sec) less than .05.
-Settling time less than 5
seconds.
-Overshoot less than 5%
-Steady-state error less than
1%
-Gain margin 10.& Phase
margin 60

5. Step response with No controller

6. Too slow
Settling time
too long
With PI
proportional
PID

7. After controlling (PID)

8.  Rise time (sec) less than .0312 < .05 sec.
 Settling time less than 5 seconds= 4.17 sec .
 Overshoot less than 5% = 0.788%.
 Steady-state error less than 1% =.7 (Amp=.993).
 Gain margin 9.85& Phase margin 60.
 Stable closed-loop system.

9. Thanks 
By eman magdy