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. 2024 Sep 16;14:21550. doi: 10.1038/s41598-024-72131-6

Table 4.

CHR method for SPT for 0% and 20%.

CHR method for SPT
Parameter With 0% overshoot With 20% overshoot
Kp 0.6/a 0.95/a
Ki 0.6/(aTm) 0.7/(aTm)
Kd 0.3Td/a 0.45Td/a