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Table 6.1. Table of tuning relations: G Ke τs + 1
Table 6.1. Table of tuning relations: G Ke τs + 1
Controller a1 b1 a2 b2 a3 b3
Controller a1 b1 a2 b2 a3 b3
P K c = 0.5K cu (6.14)
PI K c = 0.455K cu (6.15a)
τ I = 0.833Tu (6.15b)
Just a bit of
PID Quarter decay overshoot No overshoot
Kp τp
PI τp —
τps + 1 K p τc
Kp τ1 + τ2 τ1 τ2
PID τ1 + τ2
(τ1 s + 1)(τ2 s + 1) K p τc τ1 + τ2
τ1
PID with τ1 > τ2 τ1 τ2
K p τc
τ1
PI (underdamped) τ1 —
4K p ζ 2 τ2
Kp 2ζ τ τ
PID 2ζ τ
τ 2 s 2 + 2ζ τ s + 1 K p τc 2ζ
Kp 1
PD — τp
s(τ p s + 1) K p τc
K p e−td s τp
PI τp —
τps + 1 K p (τc + td )
1 2τ p /td + 1 τp
PID τ p + td /2
K p 2τc /td + 1 2τ p /td + 1
Kp 1
P — —
s K p τc