A Summary of PI and PID Controller Tuning Rules for Processes with Time Delay. Part 1: PI Controller Tuning Rules

Optimum Settings for Automatic Controllers

Jens Ziegler, Nancy B. Nichols · Transactions of the American Society of Mechanical Engineers · 1942 · 5.2K citations

Engineering, Industrial Engineering, Automation +11

Optimum Settings for Automatic Controllers

Jens Ziegler, Nancy B. Nichols · Journal of Dynamic Systems Measurement and Control · 1993 · 2.4K citations

Engineering, Industrial Engineering, Automation +11

Internal model control: PID controller design

Daniel E. Rivera, Manfred Morari, Sigurd Skogestad · Industrial & Engineering Chemistry Process Design and Development · 1986 · 1.6K citations

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Automatic tuning of optimum PID controllers

M. Zhuang, D.P. Atherton · IEE Proceedings D Control Theory and Applications · 1993 · 668 citations

Engineering, Chemical Engineering, Optimization +16

Tuning PI controllers for integrator/dead time processes

Björn D. Tyréus, William L. Luyben · Industrial & Engineering Chemistry Research · 1992 · 416 citations

Engineering, Chemical Engineering, Process Control +5