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: