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  2. Ziegler–Nichols method - Wikipedia

    en.wikipedia.org/wiki/Ziegler–Nichols_method

    The Ziegler–Nichols tuning method is a heuristic method of tuning a PID controller.It was developed by John G. Ziegler and Nathaniel B. Nichols.It is performed by setting the I (integral) and D (derivative) gains to zero.

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