The Cohen-Coon autotuning method is an offline method for tuning PID controllers. This method uses PID parameters obtained from an open-loop transfer function experiment. This method is similar to the Ziegler-Nichols method, but provides better results when the controller has a large deadtime T_d relative to the time constant T.

The following table shows the Cohen-Coon recommendations for tuning parameters under different tuning specifications:

Controller	Kc	Ti	Td
P		—	—
PI			—
PID

Where T is the time constant

K_c is the proportional gain

T_d is the deadtime