Original Ziegler-Nichols gains listed after improved tuning rules are incorrect
|Submission date||31 Aug 2019|
|Your name||Richard Murray|
|Line number||22, 23|
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 $k_i = 0.54 k_c/T_c$.