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They classified systems. So they get for ex. FOPDT, SOPDT with small/large deadtime, ...

Then they looked for parameters who are acceptable for most of the systems.

That's why there are slightly different parameters (Ziegler-Nichols, Tyreus-Luyben, Shinsky, ...) but all in the same region.

These parameters are kind of a panacea, but one will never get the perfect control for his system with these.

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Q: From where did ziegler-nichols and tyreus-luyben got their tuning rule numbers or how?
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