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Pid formula stuck??????

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garg29

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Dear all,
i am working on pid theory on a temperature controller project in which i want to control the heater output. i have calculated ultimate gain Pu and time period Tr. After that when i feed these in formula of zeigler nicholas i,e . Kp= Pu x 0.6 Ti= Pu x 0.5 and Td= Pu x 0.125
to get Kp, Ti and Td.
Now how to implement these three values in my program to control pid action on heater. what formula to feed and how to apply it furthur .please explain.
Thankingyou
With best regards
 

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