Ziegler-Nichols tuning rules don't quite match the original gains from the Ziegler-Nichols paper
|Submission date||31 Aug 2019|
|Your name||Richard Murray|
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 improved Ziegler-Nichols tuning rules.