In this study, we develop a model of workload as a function of task di
fficulty. Experiments on compensatory tracking tasks are used to asses
s the task difficulties. First, second, and third order plants that ar
e controlled under three damping frequencies, no oscillation, critical
ly damped, and overdamped, are investigated. The task difficulty index
is defined as the ratio of root means square of path error to the roo
t means square control velocity.