Talk:Ziegler–Nichols method

Comments
The article says it is a "foolish" method, which doesn't strike the right objective tone. 24.247.30.21 (talk) 11:23, 26 October 2009 (UTC)
 * That was vandalism by an anonymous user. Thanks for reverting it. User A1 (talk) 13:08, 26 October 2009 (UTC)

What it is: "I gain" and "D gain"? May I set that "I gain" to zero? wp —Preceding unsigned comment added by 77.52.188.102 (talk) 12:06, 21 July 2010 (UTC)
 * I added the definitions of "I" and "D" to the article. Setting them to zero means you end up with a purely proportional controller (see the PID article)User A1 (talk) 16:17, 21 July 2010 (UTC)

Ziegler-Nichols Method Ki and Kd Values Incorrect in Table
The Ki and Kd values in the Ziegler-Nichols method table are incorrect! The Ki values are pulled from the tuning parameters for a PI controller and the Kd values are pulled from the tuning parameters using the Pessen Integral Rule. The correct value for Ki should be "Ki = Kp / (Pu / 2)" or more simply "Ki = (2 * Kp) / Pu". The correct value for Kd should be "Kd = Kp * (Pu / 8)". You can reference both the Ziegler Nichols wikipedia page (https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method) or Microstar Laboratories (http://www.mstarlabs.com/control/znrule.html) to see the evidence of these errors. I would solve this issue myself, but I don't understand how the table formatting works. (December 17, 2018 - 1:52 AM MST)

Integral definition
Hello,

There is currently an apparent conflict between the microstart article and the Ziegler-Nichols paper/mtu site. This comes from the questionof whether you are factoring out the kp in your definitions of Ki and Kd. This article should state the form of the equation to clarify this, rather than bouncing between the various definitions . User A1 (talk) 21:46, 12 August 2010 (UTC)

---

Under evaluation - isnt statement 2 and 3 contradictionar?

--- the formula integrates e(tau) dtau

should integrate e(t) dt — Preceding unsigned comment added by 46.102.221.58 (talk) 14:44, 16 March 2017 (UTC)

Form of the controller
It isn't clear which form has the controller's output u(t), because there can be several ways of denoting the parameters, for instance:

$$ u(t) = K_p \left (1+ \frac{1}{K_i}\int\limits_{t_0}^{t}e(t)\, dx+K_d \frac{d e(t)}{d t}\right )$$

or

$$ u(t) = K_p \left (1+ K_i\int\limits_{t_0}^{t}e(t)\, dx+K_d \frac{d e(t)}{d t}\right )$$

or

$$ u(t) = K_p + \frac{1}{K_i}\int\limits_{t_0}^{t}e(t)\, dx+K_d \frac{d e(t)}{d t}$$

etc. So, ¿anyone knows what is the correct one for the table? — Preceding unsigned comment added by 201.239.9.163 (talk) 23:52, 30 December 2011 (UTC)

Multiple methods
There are apparently multiple methods proposed by Ziegler Nichols. Only one is documented in the article. Here's a simple explanation of another - --Kvng (talk) 14:54, 7 June 2012 (UTC)
 * +1 There are two very different methods with the Ziegler–Nichols name. The closed loop method described here and one based on the open loop step response. --Ulrich67 (talk) 17:46, 26 March 2014 (UTC)

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