A fiftieth anniversary celebration of the Ziegler–Nichols PID controller The Ziegler–Nichols PID controller tuning rules (November 1942) are addressed anew in the frequency domain. They are shown to guarantee asymptotic stability for processes considered, with a phase margin of about 25°. Refinements and interrelationship are explored.
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Annraoi M. de Paor (1993) studied this question.
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