Setting the Parameters of Proportional–Integral–Derivative Controllers

Abstract

This note starts by discussing what is regarded as the pioneering work in proportional–integral–derivative controller tuning by Ziegler and Nichols. The basic concepts in their paper, rather than the specific tuning rules they presented, are held to be their major contributions. It is then explained with some brief theory how the ideas have been developed and how with modern technology the loop cycling method has been automated.