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The ability of proportional integral (PI) and proportional integral derivative (PID) controllers to compensate many practical industrial processes has led to their wide acceptance in industrial applications. The requirement to choose either two or three controller parameters is perhaps most easily done using tuning rules. A summary of tuning rules for the PID control of single input, single output (SISO) processes with time delay is provided in this paper.
O'Dwyer, Aidan : A summary of PI and PID controller tuning rules for processes with time delay. Part 2: PID controller tuning rules. Proceedings of PID ’00: IFAC Workshop on Digital Control, pp. 242-247, Terrassa, Spain, April 4-7, 2000.