Timed Test This test has a time limit of 1 hour and 30 minutes. This test will s

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Timed Test This test has a time limit of 1 hour and 30 minutes. This test will save and submit automaticall when the time expires Multiple Attempts This test allows multiple attempts. Force Completion Once started, this test must be completed in one sitting. Do not leave the test before clicking Save and Submit Warnings appear when half the time, 5 minutes, 1 minute, and 30 seconds remain Remaining Time: 52 minutes, 21 seconds Question Completion Status: 8 ] [ 2913013110321 3313413510361037 1.3 139?40-?4110 421043]?4 14514 1 18 19 20 21 22 23 24 25 26 27 49 471 48 Moving to another question will save this response

Explanation / Answer

For a classic PID tuned by Ziegler-Nichols method, the proportional gain Kp is given by

Kp = 0.6 times the ultimate gain Kcr

=> Kp = 0.6 * 120 = 72

Therefore proportional gain = 72.

Integral gain = Kp/(Pcr / 2) = 72/(10/2) = 14.4

Derivative gain = Kp*Pcr/8 = 72 * 10/8 = 90.

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