SEARCH Articles Figures Tables Nicholls Nichols The Ziegler-Nichols methods for tuning PID controllers Tuning Ziegler-Nichols Ziegler-Nichols (Z-N) Open-Loop Tuning Rules of Thumb Ziegler-Nichols Tuning Method Ziegler-Nichols closed-loop tuning method Ziegler-Nichols controller tuning paramete Ziegler-Nichols method controller tuning