there is one tuning method which is sum time constant approach for PID
tuning. this method is invented by Udo Kuln. but I can't find his
paper, so I don't know this tuning method is how to derive.

I want to find some advice or resource to help me understand the sum time constant approach.

Best regards,

I want to find some advice or resource to help me understand the sum time constant approach.

Best regards,