... with a controlled system which is given by: 32 controlled4 32 7 .20 9s 19.98s 19.71s 10.64()s 9.383 22 .26 s 20 .8s 10.64Gss+++=++++ Simulating the new PID- controlled system for a step input ... 12. Fig. 12. Closed-loop feedback single-input single-output (SISO) control using a PID controller. In the control design process, the three parameters of the PID controller {Kp, ... AC -23 , pp. 28 9 -29 7, 1978. [22 ] P. Kokotovic, R. O'Malley, and P. Sannuti, “Singular Perturbation and Order Reduction in Control Theory – An Overview,” Automatica, 12( 2), pp. 123 -1 32, ...