Description: With the Stable Boundary tuning formula seeking P, PI, PID' s parameters, of which G is known to be corrected and the system of open-loop transfer function, kp is proportional coefficient, Ti the integral time constant, Td for the differential time constant, input parameters Gc for the corrector transfer function, p is the number of poles of open-loop system (excluding the number of multiple roots, that is a multiple root only to the root)
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zn02.m
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