Plant

Thermal mass (1st order) Cart-spring-damper (2nd order) Liquid tank + valve

Controller

Setpoint r 50.0 Kp 2.00 Ki 0.50 Kd 0.20 Time scale 1.0x Measurement noise

Stats

Setpoint r—

Output y—

Error e—

∫e dt—

Control u—

Rise time—

Overshoot—

Settling t—

SS error—

u = Kp·e + Ki·∫e + Kd·de/dt with anti-wind-up clamping when the actuator saturates. Try P-only (steady-state error), add Ki (no error but overshoot), add Kd (faster, but noisy). Press Step to measure rise / overshoot / settling.