Original Ziegler-Nichols gains listed after improved tuning rules are incorrect
From FBSwiki
| 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 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 $k_i = 0.54 k_c/T_c$.
