Advanced PID controller synthesis using multiscale control scheme

For many decades, PID controller has been widely applied in industries despite the advancement in many advanced control techniques. Process models such as the First-Order plus Deadtime (FOPDT) has often been used to design or tune PID controller. Numerous PID tuning formulas have been established since the well-known Ziegler-Nichols formula introduced in the 1940s. In this paper, we present the multi-scale control approach to constructing a PID tuning formula based on the FOPDT model. The effectiveness of the proposed PID tuning formula is compared with some of the existing formulas reported in the literature.