Table 3 – Example of ZN set of PID tuning rules Table 3 – Example of ZN set of PID tuning rules Table 3 – Example of ZN set of PID tuning rules Table 3 – Example of ZN set of PID tuning rules
PID Parameters P controller PI controller PID controller
P P = 0.5 * Pcu P = 0.45 * Pcu P = 0.75 * Pcu
I - I = Pcu / 1.2 I = 0.5 * Pcu
D - - D = Pcu / 10