Tu = 0.2
Ku = 0.022

# Ziegler-Nichols PID Tune
Kp_pid = 0.6*Ku
Ki_pid = 1.2*Ku/Tu
Kd_pid = 0.075*Ku*Tu

# Ziegler-Nichols No OS
Kp_no_os = 0.2*Ku
Ki_no_os = 0.4*Ku/Tu
Kd_no_os = 0.066*Ku*Tu

print(f"Ziegler Nichols PID Tune: K_p={Kp_pid}, K_i={Ki_pid}, K_d={Kd_pid}")
print(f"Ziegler Nichols No Overshoot Tune: K_p={Kp_no_os}, K_i={Ki_no_os}, K_d={Kd_no_os}")