⚡️ Tuning a PID Controller Using the Ziegler-Nichols Method | MATLAB code available

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MATLAB CODE
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Tuning a PID Controller Using the Ziegler-Nichols Method | MATLAB code available
s=tf('s');
sys=1/(s^2+20*s+100)
figure
step(sys)
%---values obtained from step response of sys--%
K=0.01;
L=0.025;
T=0.3-L;
a=K*L/T;
Ti=2*L;
Td=L/2;
Kp=1.2/a;
Ki=Kp/Ti;
Kd=Kp*Td;
cont=pid(Kp,Ki,Kd)
figure
step(feedback(cont*sys,1))