Revisiting the Ziegler–Nichols step response method for PID control
Κ.J. ÅströmDepartment of Automatic Control, Lund Institute of Technology, P.O. Box 118, SE-221 00 Lund, SwedenT. HägglundDepartment of Automatic Control, Lund Institute of Technology, P.O. Box 118, SE-221 00 Lund, Sweden
2004en
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