A.T. Ajiboye, S.L. Ayinla & A.O. Yusuf2022-01-142022-01-142018https://uilspace.unilorin.edu.ng/handle/20.500.12484/7394The effects of proportional-integral-derivative (PID) controller position within the structure of control system loop on system time domain performance parameters were investigated. PID controller was connected as series compensation, feedback compensation and series-feedback compensation respectively. The connected PID controller’s gains were tuned. The transfer function for the uncompensated, series compensated, feedback compensated and series-feedback compensated systems were developed, and then subjected to a step input forcing function, which yielded time-domain performance parameters for these systems. The obtained time domain parameters show that the series compensated system has the most superior performance quality compared with other compensated and uncompensated systems.enFeedback Compensated SystemPID ControllerSecond Order SystemSeries Compensated SystemSeries-feedback Compensated SystemTime-domain Performance ParametersArticle