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A summary of tuning rules for the PID control of single input, single output (SISO) processes with time delay, modeled in stable first order lag plus time delay (FOLPD) form, is provided in this part of the paper.
O'Dwyer, Aidan :PI and PID controller tuning rules for time delay processes: a summary. Part 2: PID controller tuning rules. Proceedings of the Irish Signals and Systems Conference, pp. 339-346, National University of Ireland, Galway, June, 1999.