Control design for PID controllers auto-tuning based on improved identification

Every auto-tuning method for PID controllers has two steps: identification of the process and design of the controller. An identification procedure to obtain two points of the frequency response of the system was presented in (Pecharroman and Pagola, 1999). This paper develops a design method based on the ITAE index. This design procedure is then related to the results of the process identification, yielding a complete auto-tuning method that gives very good results in theory and in practice. A complete test batch is used. The main contribution is that the method is valid for integrating as well as non-integrating processes. Copyright (C) 2000 IFAC.