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Description of error:
The gains listed in parenthesis in equation (11.10) need to be updated in conjunction with the [[Ziegler-Nichols_tuning_rules_don't_quite_match_the_original_gains_from_the_Ziegler-Nichols_paper|adjustment of the original Ziegler-Nichols gains]]: * For the step response method in equation (11.10a) the original Ziegler-Nichols gains should be $k_p = 0.9T/(K \tau)$ and $k_i = <font color=blue>0.27</font> T / (K \tau^2)$. * For the frequency response method in equation (11.10b) the original Ziegler-Nichols gains should be $k_p = <font color=blue>0.45</font> k_c$ and $k_i = <font color=blue>0.54</font> k_c/T_c$.
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