Suggested Tuning Method for Integrating Processes

We could include a similar set of charts for tuning controllers on integrating processes. However, since they are all straight line relationships we can more easily represent them as formulae. They assume that Kp has units of min 9 has units of minutes and ts has units of seconds. Kc will then be dimensionless TJ and will have the units of minutes. 

While Table 3.7 gives tuning for virtually all possible situations the preferred choice of algorithm and disturbance is listed last. 

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