References

The original Ziegler-Nichols parameters are developed in the following paper: Ziegler, J. G., and N. B. Nichols, "Optimum Settings for Automatic Controllers," Trans. ASME, 64, 759–768 (1942).

The Tyreus-Luyben recommended values are presented in Chapter 3 of the following textbook: Luyben, M. L. and W. L. Luyben, Essentials of Process Control, McGraw Hill, New York (1997).