Lambda Tuning Method

The tuning constants are calculated for a self-regulating process from formulae developed by Chien (Reference 9) as 

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The tuning constant (2) is the required time constant for the trajectory of the approach to SP, as it is in the Lambda tuning method. 

Although this controller is not in a standard PID form, it is physically realizable. Sometimes, the symbol X is used instead of Tc in Eq. 12-6, and the Direct Synthesis method is referred to as the lambda-tuning method (McMillan, 2006). 

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