Cohen and Coon reaction curve recommended control constants

From Cohen and Coon

Type of controller Kp Kp/Ki Kd/Kp
P AB·(1 + R/3) - -
P + I AB·(1.1 + R/12) L·(30 + 3·R) / (9 + 20·R) -
P + D AB·(1.25 + R/6) - L·(6 - 2·R) / (22 + 3·R)
P + I + D AB·(1.33 + R/4) L·(32 + 6·R) / (13 + 8·R) 4·L / (11 + 2·R)

where A = M / O¥ and B = T / L and R = L/T based on the reaction curve test as illustrated below:

12.33b.gif (23823 bytes)