Revision as of 11:42, 17 May 2017

DC motor control

Ziegler-Nichols tuning formulae
Controller type	$K$	$T_i$	$T_d$	$K$	$T_i$	$T_d$
Controller type	Step response			Frequency response
P	$1/a$			$0.5K_c$
PI	$0.9/a$	$3L$		$0.4K_c$	$0.8T_c$
PID	$1.2/a$	$2L$	$L/2$	$0.6K_c$	$0.5T_c$	$0.12T_c$

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