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Chapter 6. Classical PID Control

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  6.1  Preview

  6.2  PID Structure

  6.3  Empirical Tuning

  6.4  Ziegler-Nichols (Z-N) Oscillation Method

  6.5  Reaction Curve Based Methods

  6.6  Lead-lag Compensators

  6.7  Distillation Column

  6.8  Summary

  6.9  Further Reading

  6.10  Problems for the Reader