No.

Tuning method

k_p

k_i

k_d

t_s

t_r

σ, %

1

MSD method with dominant poles allocation

1.43

0.096

3.91

30.5

30.5

0.0

2

MSMI

1.74

0.12

3.91

37.57

18.72

3.33

3

Ziegler-Nichols

9.44

0.109

1.52

171.79

6.55

56.75

4

Parametrical optimization

3.29

0.245

9.64

10.98

27.5023

6.39