:back:  pd controller with invariable coefficient

result for this controller is shown in 4.fig
:back:  pid controller with invariable coefficient

result of test for this controller is shown in 3.fig
:back:  pid controller with variable kd

result of test for this controller is shown in 5.fig
:neutral_face:  pd controller with variable coefficients

kd has two phases.
kp has two phases ,in each phase it is varying.
result of test for this controller is shown in 1.fig
:new: pd controller with variable coefficients(2)

kd has three phases
kp has two phases ;in each phase it is varying.
result of test for this controller is shown in 2.fig
this controller has the least overshoot and has a short enough settling
time (needs improvement)
in summery  it is the most appropriate controller among these
controllers. :ok_hand: