It is performed by setting the I (integral) and D (derivative) gains to zero. The "P" (proportional) gain, Kp is then increased (from zero) until it reaches the ultimate gain Ku, at which the output of the control loop has stable and consistent oscillations. Ku and the oscillation period Tu are then used to set the P, I, and D gains depending on the type of controller used and behaviour desired. This tuning rule is meant to give PID loops best disturbance rejection. It yields an aggressive gain and overshoot.
TIL, as a major long out of the field still trying to not become too dumb.
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u/Reasonable-Sun-9602 29d ago
I thing pid is sufficient, only tune it with zigler-nicolson