controller parameters

P

4.3347

I

3.3103

D

−0.30048

N

12.4257

Performance and Robustness

Tuned

Rise time

0.283 seconds

Settling time

3 seconds

Overshoot

16.30%

Peak

1.16

Gain margin

19.4 Db@ 19.4 rad/s

Phase margin

57.2 der @ 3.96 rad/s

Closed-loop stability

Stable