Ziegler-Nichols Tuning
Two classic recipes: the ultimate-cycle method sets gains from the ultimate gain Ku and period Pu found at the edge of sustained oscillation (e.g. Kp=0.6Ku, Ti=Pu/2, Td=Pu/8), and the open-loop reaction-curve method sets them from a FOPDT step test. Both target quarter-amplitude decay, which is aggressive and often detuned in practice.
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Two classic recipes: the ultimate-cycle method sets gains from the ultimate gain Ku and period Pu found at the edge of sustained oscillation (e.g. Kp=0.6Ku, Ti=Pu/2, Td=Pu/8), and the open-loop reaction-curve method sets them from a FOPDT step test. Both target quarter-amplitude decay, which is aggressive and often detuned in practice.
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