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     EduGorilla 
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    The value of ultimate period of oscillation Pu is 3 min, and that of the ultimate controller gain Kcu is 2. Select the correct set of tuning parameters (controller gain Kc, the derivative time constant  in minute and the integral time constantin minute) for a PID controller using Ziegler-Nichols controller settings.

    Options :-

    1. Kc = 1.1;  = 2.1,  = 1.31
    2. Kc = 1.5; = 1.8,  = 0.51
    3. Kc = 1.5; = 1.8, = 0.51
    4. Kc 1 1.2; = 1.5,  = 0.38
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