on which method pidtool command selects parameters of PID?

2016 1 29
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更新时间：2016 1 29
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I have a question... Is the command pidtool based on Ziegler Nichols tuning method? where if the open loop responce is S shaped curve then parameters of PID is found using
Kp=1.2(T/L) TI=2L TD=.5L
The inflation point will give Values of T and L........

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