Ku is the Proportional gain that, with 0 Integral and Derivative gains, cause the system to stably oscillated at period Tu
Ki = Kp/Ti
Kd = Kp*Td
| Control Type | Kp | Ti | Td | Ki | Kd |
|---|---|---|---|---|---|
| P | 0.5*Ku | - | - | - | - |
| PI | 0.45*Ku | 0.83*Tu | - | 0.54*Ku/Tu | - |
| PD | 0.8*Ku | - | 0.125*Tu | - | 0.10*Ku*Tu |
| classic PID | 0.6*Ku | 0.5*Tu | 0.125*Tu | 1.2*Ku/Tu | 0.10*Ku*Tu |
| no overshoot | 0.2*Ku | 0.5*Tu | (1/3)*Tu | 0.40*Ku/Tu | (2/30)*Ku*Tu |
Reference: https://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method
Kp: Ku = 650 => Kp = 0.2*Ku = 130
Ki: Ku = 650, Tu = 300ms = 0.3s => Ki = 0.4Ku/Tu = 0.4650*.3 = 78
Kd: Ku = 650, Tu = 300ms = 0.3s => Kd = (2/30)*KuTu = (1/15)*650.3 = 13