Difference between revisions of "Original Ziegler-Nichols gains listed after improved tuning rules are incorrect"
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| − | The gains listed in parenthesis in equation (11.10) | + | The gains listed in parenthesis in equation (11.10) need to be updated in conjunction with the [Ziegler-Nichols_tuning_rules_don%27t_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 = | + | * 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 $k_p = 0.45 k_c$ and $k_i = 0.54 k_c/T_c$. | + | * 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 $k_i = <font color=blue>0.54</font> k_c/T_c$. |
Revision as of 08:43, 3 September 2019
| Edition | Second |
|---|---|
| Version number | 3.0j |
| Submission date | 31 Aug 2019 |
| Your name | Richard Murray |
| E-mail address | murray@cds.caltech.edu |
| Chapter | 11 |
| Page number | 11-13 |
| Line number | 22, 23 |
| Current status | Closed |
The gains listed in parenthesis in equation (11.10) need to be updated in conjunction with the [Ziegler-Nichols_tuning_rules_don%27t_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 $k_i = 0.27 T / (K \tau^2)$.
- For the frequency response method in equation (11.10b) the original Ziegler-Nichols gains should be $k_p = 0.45 k_c$ and $k_i = 0.54 k_c/T_c$.
