This simple program help you to calculate parameters for a pid controller for first order systems wiith delay using different method: Ziegler Nichols,Cohen coon,IMC... -This simple program to help you calculate p arameters for a controller for pid

比较专业的PID控制器，主要实现了以下几种常用的理论：Ziegler&Nichols、Cohen Coon、Reglabilite、IMC、Optimiszation、De Crite、PID1、PID2 -Comparison of professional PID controller, the main achievement of the following types of theories commonly used: Ziegler & Nichols, Cohen C

用Cohen--Coon整定公式来求P,PI,PID的个参数，其中Gc是校正器的传递函数,kp为比例系数， Ti为积分时间常数，Td为微分时间常数，输入参量vars为带迟滞--惯性环节模型的KT τ 输入参量vars为带迟滞--惯性环节的K T ι，已知参数k=vars（1）；T=vars（2）；ι=vars（3）。-With Cohen- Coon tuning formula to seek P, PI, PID' s parameters, which Gc is the corre