This block calculates the integral time of a PID model as
Ti = L (0.4 L + 0.8 T)/(L + 0.1 T),
where T
is the time constant of the first-order plus time-delay (FOPTD) model
and L
is the time delay of the FOPTD model.
Åström, Karl Johan and Tore Hägglund (2004) "Revisiting the Ziegler–Nichols step response method for PID control." Journal of Process Control 14.6 (2004): 635-650.