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"Probably the best simple PID tuning rules in the world", Sigurd Skogestad, Submitted to Journal of Process Control July 3, 2001; This version: July 17, 2001. Paper was rejected by JPC and new expanded version with new title was submitted Dec. 2001

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 (e.g. using the half method), and then use a single tuning rule. This is much simpler and appears to give controller tunings with comparable performance.