I. INTRODUCTIONProcess control industry has seen many advances in the past two decades in terms of the controller design and its implementation methods [1]. Proportional-Integral-Derivative (PID) controller has been used for several decades since 1940 in industries for process control applications. PID controllers tend to bring down the difference between the process variable and set point by comparing the response with the desired value [2]. PID controller is the most common control algorithm used in process control applications [3]. The performance of PID controller mostly depends on the precision of system models and their parameters. A setting of the proportional, integral and derivative values of a controller to get the best response for a process using a tuning algorithm is called tuning of a PID controller [4], [5]. In spite of these advances classical PID controller is undoubtedly the most popular controller in the industry because of its simple structure and robust performance in different operating conditions. It has been reported that 97% controllers in refining paper and pulp industries have PID structure [6].To implement a PID controller effectively, tuning process of its parameters plays a vital role. J. G. Zeigler and N. B. Nichols were the first to present the simple tuning rules for PID controller [7], [8]. Most of controlled systems became poor in characteristics and even it becomes unstable, if improper values of the controller tuning constants are used [9]. DC motors are the oldest types of electro-mechanical machines. They were invented after the creation of the first sources of DC current. They are more advantageous over other AC machines regarding controlling the speed regulation, they could be found in many applications which require high-speed control accuracy and reliable effective dynamic responses such as industrial, medical and military purposes where the speed must be variable in wide range [10]. DC motor speed is directly proportional to armature voltage, by adjusting the armature voltage. So, it is important to design a proper controller to control the speed of a DC motor. The parameters of the DC motor should be known since they are essential to build the mathematical model [11], and then get the PID controller tuning gains [12]. The organization of this paper is presented mathematical modelling structure in section II, tuning methods of PID controller parameters are presented in section III, simulink model of a dc motor introduced in section IV, comparison of simulation and experimental results are given in section V and conclusions are explained in section VI.

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