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- Ziegler-Nichols' and Åström–Hägglund's Methods on PID Tuning with a Real Life Example This document is intended to be the third report of the laboratory homeworks. The objective of the homework is to create a PID controller using Zigler-Nichols' critical gain and Åström–Hägglund's relay methods for the plant we had investigated on the second experiment. All the calculations will be shown in