Dipl.-Phys. Ing. Gordon Taft
PI Autotuning
K Ti Td
                           K·e-sL
FOPDT Gm(s) = ---------------
                          1 + s·T
0.9T
---------
K·L		 3.33·L  
PI Autotuning Parameter
Ziegler and Nichols (1942)
Popular Methods
0.35T
---------
K·L		 1.2·T  
CHR 0% Overshoot (set-point tracking)
0.6T
---------
K·L		 T  
CHR 20% Overshoot (set-point tracking)
0.6T
---------
K·L		 4·L  
Chien Regulator 0% Overshoot (1952)
0.7T
---------
K·L		 2.33·T
-------
K		  
Chien Regulator 20% Overshoot(1952)
0.35T
---------
K·L		 1.17·T  
Chien Servo 0% Overshoot (1952)
0.6T
---------
K·L		 T  
Chien Servo 20% Overshoot(1952)
0.6T
---------
K·L		 4·L  
CHR 0% Overshoot (disturbance rejection)
0.7T
---------
K·L		 2.3·L  
CHR 20% Overshoot (disturbance rejection)
0.63T
---------
K·L		 3.2·L  
Astrom and Hagglund (1995)
0.7T
---------
K·L		 2.3·L  
Astrom and Hagglund Regulator (1995)
           L
0.11 < --- < 1.0
           T
           L
0.11 < --- < 1.0
           T
K
---------
3		 L  
McMillan (1994)
0.333T
---------
K·L		 T  
St. Clair (1997)
L
--- < 3.0
T
Time delay dominant processes
0.667T
---------
K·L		 3.78·L  
Shinskey (2000)
L
--- = 0.167
T