Process reaction

Callender et al. (1935/6).

Model: Method 1

^[1]0.568/K _m ? _m

3.64 ? _m

=0.3

^[2]0.690/K _m ? _m

2.45 ? _m

Ziegler and Nichols (1942).

Model: Method 2

3.33 ? _m

Quarter decay ratio.

?1

Hazebroek and Van der Waerden (1950).

Model: Method 2

x ₂ ? _m

Coefficient values

x ₁

x ₂

x ₁

x ₂

x ₁

x ₂

0.2

0.68

7.14

1.1

0.90

1.49

2.0

1.20

1.00

0.3

0.70

4.76

1.2

0.93

1.41

2.2

1.28

0.95

0.4

0.72

3.70

1.3

0.96

1.32

2.4

1.36

0.91

0.5

0.74

3.03

1.4

0.99

1.25

2.6

1.45

0.88

0.6

0.76

2.50

1.5

1.02

1.19

2.8

1.53

0.85

0.7

0.79

2.17

1.6

1.06

1.14

3.0

1.62

0.83

0.8

0.81

1.92

1.7

1.09

1.10

3.2

1.71

0.81

0.9

0.84

1.75

1.8

1.13

1.06

3.4

1.81

0.80

1.0

0.87

1.61

1.9

1.17

1.03

>3.5

Oppelt (1951).

Model: Method 2

^[3]K _c ⁽¹⁾

1.66 ? _m

? _m>>T _m

3.32 ? _m

? _m<m

Moros (1999).

Model: Method 1

0.8T _m/K _m ? _m

3 ? _m

attributed to Oppelt

0.91T _m/K _m ? _m

3.3 ? _m

attributed to Rosenberg

Chien et al. (1952) regulator.

Model: Method 2;

4 ? _m

0% overshoot

2.33 ? _m

20% overshoot

Chien et al. (1952) servo.

Model: Method 2;