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. 2017 Dec 1;11(6):155–162. doi: 10.1049/iet-syb.2017.0008

Table 2.

Control parameters selections using the Ziegler–Nicholas step response method

Patient Operation model BF, l/min Speed, rpm K P k 1 K I T 2  − T 1, s K D
child VV, VA <2.0 200–1000 0.50 0.2–1.0 2.5000–0.5000 0.001 0.0005
1000–2000 0.50 1.0–2.0 0.5000–0.2500 0.001 0.0005
adult VA, VVA 2.0–4.0 2000–3000 0.50 2.0–3.0 0.2500–0.1667 0.001 0.0005
3000–4000 0.50 3.0–4.0 0.1667–0.1250 0.002 0.0010
VV >4.0 4000–4500 0.50 4.0–4.5 0.1250–0.1111 0.002 0.0010