FAQ: What happens if a or L are negative in Zeigler-Nichols PID tuning?

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Posted by Murray 19:38, 12 November 2005 (PST)
In this case some of the gains will turn out to be negative, which may correspond to your controller having RHP poles or zeros, which is bad. A system with negative a or L is an example of when Zeigler-Nichols tuning may not work.