This book presentsa unified methodology for the design of PID controllers that encompasses the widerange of different dynamics to be found in industrial processes. This is extendedto provide a coherent way of dealing with the tuning of PID controllers. The particularmethod at the core of the book is the so-called model-reference robust tuning (MoReRT),developed by the authors. MoReRT constitutes a novel and powerful way of thinkingof a robust design and taking into account the usual design trade-offs encounteredin any control design problem.The book starts bypresenting the different two-degree-of-freedomPID control algorithm variationsand their conversion relations as well as the indexes used for performance, robustnessand fragility evaluation:the bases of the proposed model. Secondly, the MoReRT designmethodology and normalized controlled process models and controllers used in thedesign are described in order to facilitate the formulation of the different designproblems and subsequent derivation of tuning rules. Inlater chapters the applicationof MoReRT to over-damped, inverse-response, integrating and unstable processes isdescribed. The book ends by presenting three possible extensions of the MoReRT methodology,thereby opening the door to new research developments. In this way, the book servesas a reference and source book for academic researchers who may also consider itas a stimulus for new ideas as well as for industrial practitioners and manufacturersof control systems who will find appropriate advanced solutions to many applicationproblems.
