Automatic tuning of PI controllers for an irrigation

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Several diff erent methods have been proposed for tuning PI controllers ..... 20 tan( π. 180. ∆Φ + π. 2. 10− ∆G. 20 ). ( 23 ). To guarantee a well- de fi ned ...
Author manuscript, published in "Journal of Irrigation and Drainage Engineering 133, 1 (2007) p. 27 - p. 37" DOI : 10.1061/(ASCE)0733-9437(2007)133:1(27)

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