Determine the settings of KP, TI and TD required for a three-mode controller which gave a process reaction curve with a lag L of 200 s and a gradient R of 0.010%/s when the test signal was a 5% change in the control valve position.

Explanation:

We can determine each parameter by using the first method of Zeigler Nichols

For this process;

the initial state of the output =

For calculating the gradient, we use the equation:

where.

Time constant relates to the time

∴

To find time t

Recall that:

Using the first method of Zeigler Nichols

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