ZIEGLER & NICHOLS

τ
K p=
to K

___ _______ ____________ -________________ ________________ _____________ ________

0.9 τ
K p=
to K

T i=3.3 t o

______ ________ __________ ____________- ____________ _____________- _____________ _

1.2 τ
K p=
to K

T i=2 t o

T d=0.5t o

_____________ ________________ __________________ __________________ ____________