• Relaxed Ziegler-Nichols closed loop tuning of PI controllers 

      Haugen, Finn; Lie, Bernt (Journal article; Peer reviewed, 2013)
      A modification of the PI setting of the Ziegler-Nichols closed loop tuningmethod is proposed. The modification is based on a combination of the Skogestad SIMCtuning formulas for ´´integrator plus time-delay´´ processes ...