# Difference between revisions of "Original Ziegler-Nichols gains listed after improved tuning rules are incorrect"

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 Edition Second 3.0j 31 Aug 2019 Richard Murray murray@cds.caltech.edu 11 11-13 22, 23 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 $k_i = 0.54 k_c/T_c$.