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2. **Increase the Proportional Gain (Kp):** Gradually increase the proportional gain (Kp) until the system starts to oscillate continuously with a constant amplitude. This means the output signal is swinging back and forth without damping. As you increase Kp, observe the system's response carefully. Initially, the system may exhibit some damping, meaning the oscillations gradually decrease in amplitude. Continue increasing Kp until the oscillations become sustained and constant. This is the point where the system is marginally stable. The goal is to find the Kp value that causes the system to oscillate continuously without increasing or decreasing in amplitude. This value is known as the ultimate gain (Ku). It represents the maximum gain that the system can tolerate before becoming unstable. Increasing Kp too quickly can lead to instability and potentially damage the system. Therefore, it's important to increase Kp gradually and observe the system's response at each step. If the system starts to oscillate violently, reduce Kp slightly until the oscillations become sustained and constant. The ultimate gain (Ku) is a critical parameter for the Ziegler-Nichols tuning method. It provides information about the system's stability margin and is used to calculate the PID controller settings. Finding Ku accurately is essential for achieving good control performance. The process of increasing Kp until the system oscillates continuously can be time-consuming, but it's a crucial step in the Ziegler-Nichols method. By carefully observing the system's response, you can identify the ultimate gain (Ku) and use it to calculate the PID controller settings.
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