Ultimate frequency method recommended control constants

From Letherman

Type of controller Kp Kp/Ki Kd/Kp
P 0.5 K'p - -
P + I 0.45 K'p 0.8 T' -
P + I + D 0.6 K'p 0.5 T' 0.125 T'

where K'p is the proportional gain value resulting in steady oscillations of controlled system and T' is the period of the steady oscillation.