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Description of error:
The gains listed for the original Ziegler-Nichols tuning rules don't quite match what was in the original paper: * For the step response method, the integral time constant for a PI controller should be T_i = \tau/0.3 (instead of 3 \tau). * For the frequency response method, the proportional gain for a PI controller should be k_p = 0.45 k_c (instead of 0.4 k_c and the integral time constant should be T_i = T_c/1.2 (instead of 0.8 T_c). These changes also impact the gains listed in the subsection on the [[Original Ziegler-Nichols gains listed after improved tuning rules are incorrect|improved Ziegler-Nichols tuning rules]].
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