PID corrector for a class 1 aperiodic system
Simplified models of aperiodic systems FOR their PID control. Tuning from the step response

The Class 1 system has an integration that easily leads the closed-loop system to instability. Models are proposed for Class 1 systems that allow the PID parameters to be determined to satisfy closed-loop stability by imposing the phase margin. In addition, this model must be easy to identify by means of an index test. The tuning must also limit damped oscillations and reduce the response time of the index response.

The class 1 system has a transfer function of the form $F\left(p\right)=\frac{K_1}{p}\cdot G\left(p\right)$...