Determining P, PI, PID Parameters Using Ziegler-Nichols Tuning Formulas

Using Ziegler-Nichols tuning formulas to calculate P, PI, and PID parameters, where Gc represents the compensator transfer function, kp is the proportional gain, Ti is the integral time constant, and Td is the derivative time constant. The input parameter vars corresponds to the KT τ parameters of a first-order plus dead-time (FOPDT) model, allowing for systematic controller parameter calculation through standardized tuning rules.