PID tuning explorer — Ch.3 Tuning of Single-Loop Control Systems
controller
PI
PID
θ/τ
=
IMC
τ
c
/
θ
=
⚠ = still oscillating at t = 30τ · plant
e
−θs
/(τs+1), τ = 1 · set-point step at 0, load step at
t
= 15τ