S. Skogestad:
"Probably the best simple PID tuning rules in the world"
Presented at AIChE Annual meeting, Reno, NV, USA, 04-09 Nov. 2001, 
Paper no. 276h 

Comment: 
There are two versions of the paper:
In the original version (tuningpaper_06nov01) 
it was (probably incorrectly) assumed that
the ZN-PID tunings were given for the series (cascade) form controller.
In the revised version (tuningpaper) the ZN-PID tunings 
are assumed to be given for a parallel form (ideal) controller.
In any case, the differences are minor and have no bearing on the
main conclusions in the paper

Abstract:

The aim of this paper is 
to present analytic tuning rules which are as simple as possible 
and still result in a good closed-loop behavior. The starting point has
been the IMC PID tuning rules of Rivera, Morari and Skogestad (1986)
which have achieved widespread industrial acceptance. 
The integral term has been 
modified to improve disturbance rejection for integrating processes.
Furthermore, rather than deriving separate rules for each transfer 
function model, we start by approximating the process by a first-order plus  
delay processes (using the ``half method''), and then use a single tuning rule.  
This is much simpler and appears to give controller tunings with comparable performance.  
All the tunings are derived analytically and are thus very suitable for teaching.

ALSO SEE:
http://www.nt.ntnu.no/users/skoge/publications/2003/tuningPID/

Her you find:

presentation - transparencies from presentation at meeting
more - references to various internal reports