Section 4.1 Traditional Design Methods Tuning Rules Assume that the step response model is K G(s)= e-0s Ts+ and the ultimate cycle model is Ku and Tu Table:Frequently used tuning methods. uning methods R-C method C-C method Z-N method KKe 1.2(0/r-1 1.35(0/r)-1+0.27 0.6KK T 2(0/r) 2.5(0/r)[1+(8/r)/5] 1+0.6(0/r) 0.5Tu/T To/T 0.5(0/r) 0.37(0/r) 1+0.2(0/r) 0.125Tu/r 240 Zhang.W.D..CRC Press.2011 Version 1.0 5/71Section 4.1 Traditional Design Methods Tuning Rules Assume that the step response model is G(s) = K τ s + 1 e −θs and the ultimate cycle model is Ku and Tu Table: Frequently used tuning methods. Tuning methods R-C method C-C method Z-N method KKc 1.2(θ/τ ) −1 1.35(θ/τ ) −1 + 0.27 0.6KKu TI /τ 2(θ/τ ) 2.5(θ/τ )[1 + (θ/τ )/5] 1 + 0.6(θ/τ ) 0.5Tu/τ TD/τ 0.5(θ/τ ) 0.37(θ/τ ) 1 + 0.2(θ/τ ) 0.125Tu/τ Zhang, W.D., CRC Press, 2011 Version 1.0 5/71