Model-based PI(D) tuning with ad-hoc regulator expressions

This work suggests that for model-based PI(D) tuning, the regulator be expressed in alternate ways with respect to its standard forms. Doing so allows to assess the characteristic of the nominal closed-loop system, including its robustness versus the unavoidable model errors, in a straightforward and reliable way. After introducing the proposed approach, an example of tuning method is derived, and compared to others to show the advantages of the proposal.