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The ability of PI and PID controllers to compensate many practical processes has led to their wide acceptance in industrial applications. The requirement to choose two or three controller parameters is most easily done using tuning rules. Starting with a general discussion of industrial practice, the paper will discuss, in particular, recent work in tuning rule development for processes with time delay.
O'Dwyer, Aidan : Tuning rules for PI and PID control of time delayed processes: some recent developments. Proceedings of the Irish Signals and Systems Conference, pp. 463-468, Queens University Belfast, July, 2004.