Model-reference robust tuning design methodology

© Springer International Publishing Switzerland 2016. Over the years, the design of controllers with PID control algorithms has been faced with different approaches. As shown in [1], controller tuning rules may be classified using different criteria: based on the controlled process information used (model order and structure, critical information), on the control algorithm to tune (P, PD, PI, PID, one or two-degree-of freedom), and on the controller design criteria (performance, robustness, or a combination of both) using analytical or optimization procedures.