1. The problem statement, all variables and given/known data I am given the transfer function Gp (s) = 1/(s+16) and I have to design a controller of the form Gc (s) = K(1 + 1/T*s) (which is a PID controller) To meet the following requirements: Maximum steady state error to a steadily changing desired position = 5% Maximum percentage overshoot to a step change in desired position = 4.4% Maximum settling time allowed following a step change in desired position = 0.5sec 2. Relevant equations %OS = %overshoot ζ = damping ratio ω = natural frequency %OS = 100e^(-pi(ζ/sqrt(1-ζ^2))) Settling time = 4/ζ 3. The attempt at a solution First I did the calculations knowing the settling time and overshoot and found ζ = 0.705 ω = 11.3464 although I don't know how useful that working is. Then to make progress on the controller I modified the original equation: Gc (s) = K(1 + 1/T*s) to Gc (s) = K((s + Z)/s) where Z = 1/T I derived the open loop function by doing G(s) = Gc(s)*Gp(s) = (K(s + Z))/(s(s+16)) And with the steady state error limit I tried to get some progress done on that but couldn't get very far there either. Ess = lim(s->0) (1/(1+G(s))) 5% = 1/(1 + K*Z) Any help here would really be appreciated, I feel like I'm missing something really simple here and it's starting to get frustrating. Cheers.