# 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'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 = | + | * 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 $k_i = <font color=blue>0.54</font> k_c/T_c$. |

## Latest 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 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 $k_i = 0.54 k_c/T_c$.