COMPARATIVE ANALYSIS OF P, PI, AND PID CONTROLLERS BASED ON THE ZIEGLER-NICHOLS ULTIMATE GAIN METHOD FOR A TWO-DEGREE-OF- FREEDOM SUSPENSION SYSTEM
DOI:
https://doi.org/10.35261/barometer.v11i3.13237Abstract
This study compares the performance of Proportional (P), Proportional-Integral (PI), and Proportional-Integral-Derivative (PID) controllers applied to a two-degree-of-freedom (2-DOF) vehicle suspension system using the Ziegler–Nichols Ultimate Gain tuning method. The suspension system is modeled as a coupled mass–spring–damper system and represented by a transfer function derived from Newton’s Second Law. Controller parameters are obtained through root locus analysis to determine the critical gain and critical period. Controller performance is evaluated based on rise time, peak time, maximum overshoot, settling time, and steady-state error. Simulation results show that the P controller provides the fastest response with a rise time of 0.0578 s but exhibits high overshoot and a steady-state error of 38.8%. The PI controller eliminates the steady-state error but increases the settling time to 8.54 s. Meanwhile, the PID controller achieves the best overall performance, with a maximum overshoot of 29.1%, a settling time of 0.984 s, and zero steady-state error. These results indicate that the PID controller provides the best balance between response speed, oscillation reduction, and steady-state accuracy for the 2-DOF suspension system. The findings can serve as a reference for selecting appropriate controller configurations in vehicle suspension systems and other mechanical systems with similar dynamic characteristics.
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References
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