This book presents
a unified methodology for the design of PID controllers that encompasses the wide
range of different dynamics to be found in industrial processes. This is extended
to provide a coherent way of dealing with the tuning of PID controllers. The particular
method 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 thinking
of a robust design and taking into account the usual design trade-offs encountered
in any control design problem.

The book starts by
presenting the different two-degree-of-freedomPID control algorithm variations
and their conversion relations as well as the indexes used for performance, robustness
and fragility evaluation:the bases of the proposed model. Secondly, the MoReRT design
methodology and normalized controlled process models and controllers used in the
design are described in order to facilitate the formulation of the different design
problems and subsequent derivation of tuning rules. Inlater chapters the application
of MoReRT to over-damped, inverse-response, integrating and unstable processes is
described. 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 serves
as a reference and source book for academic researchers who may also consider it
as a stimulus for new ideas as well as for industrial practitioners and manufacturers
of control systems who will find appropriate advanced solutions to many application
problems.