4、emaximumpercentovershoot, settlingtime, attenuationrateandIAE. Thedesignof singleclosed-loopcontrol system includesdesignsofP, I, PI andPID. Thecontrollerparameteristunedbyfrequencyresponseofattenuationrateandtheattenuationcurve.Allthe controldesignmethodsincludedarecom