A new PID controller tuning method based on multiple integrations

The magnitude optimum (MO) technique provides a non-oscillatory closed-loop response for a large class of process models. However. this technique is b ased on a transfer function model that requires precise process identificat ion and extensive computations. In the present paper, it is shown that a cl ose relation exists between multiple integrations of the process step respo nse and the MO criterion. Due to this relation, the MO criterion can be mor e simply achieved. Some practical guidelines for performing multiple integr ations and for re-tuning controller parameters are also given. (C) 1999 Els evier Science Ltd. All rights reserved.