This paper proposes the development of a control method, through a gray box system which are known information about step response from the open-loop system, to design a Proportional, Integral and Derivative (PID) controller. Through the acquisition of the step response of the open-loop system, a block diagram is used in MATLAB R Simulink R where the step response is convoluted with the control signal, allowing to perform the closed loop control of the system and to tune PID gains that will guarantee a better system performance. The validation of the technique is obtained through a implementation at the Beam Propeller. Resumo: Neste trabalhoé proposto o desenvolvimento de um método de controle, através de um sistema caixa-cinza, no qual conhece-se informações da resposta ao degrau do sistema em malha aberta para então projetar um controlador Proporcional, Integral e Derivativo (PID). Através da aquisição da resposta ao degrau da planta em malha aberta, utiliza-se um método baseado em diagrama de blocos no MATLAB R Simulink R em queé possível, através da convolução entre o sinal de controle e a resposta ao degrau em malha aberta, realizar o controle do sistema em malha fechada e determinar os ganhos do controlador PID que garantam um bom comportamento ao sistema. A validação da técnicaé obtida através de implementação em bancada na planta Viga-Hélice.
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