《TABLE IITUNING RULES FOR CONTROLLER DESIGN WITHOUT PLANTGAIN COMPENSATION》

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《On the Misunderstanding of the Ziegler-Nichols's Formulae Usage》

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Some recent reports，papers and textbooks have been applying the Ziegler-Nichols’s method by neglecting the correction term on Kp.These uncompensated tuning rules are shown in Table II.The closed loop performance for such uncompensated tuning rules is under study in this paper.The lack of gain compensation can provide a very poor behavior，as we show herein.