Handbook of Pi and PID Controller Tuning Rules

A presentation of the tuning rules for PI and PID controllers for processes with time delay. It comprehensively compiles, using a unified notation, the tuning rules proposed over six decades (1942-2002); categorises the tuning rules and gives application information about each rule; and discusses controller architecture and process modelling issues, and the performance and robustness of loops compensated with PI or PID controllers. The text should be useful to practitioners in control and instrument engineering, as well as students and educators in technical colleges and universities.