Automated selection of model-based PID tuning methods based on the nominal control problem

In many industrial autotuning applications, the only available information is a nominal process model, of simple fixed structure, and parametrised based on experimental data. This manuscript proposes a way to select, based on that model and the control specifications, an appropriate model-based tuning method within a pre-specified set. After explaining the rationale of the proposed approach, a PID tuning procedure is presented that employs some well-established model-based tuning rules, and demonstrates the usefulness of automated method selection.