Handbook of PI and PID Controller Tuning Rules, 2nd Edition


| Rule | K c | T i | T d | Comment |
|---|---|---|---|---|
| Minimum performance index | ||||
| Standard form optimisation binomial Polonyi (1989). | [1]K c (582) | T i (582) | ? m | Model: Method 1 T m1>10(T m2+ ? m) |
| Standard form optimisation minimum ITAE Polonyi (1989). | [2]K c (583) | T i (583) | ? m | |
| [1] [2] |

| Rule | K c | T i | T d | Comment |
|---|---|---|---|---|
| Direct synthesis: frequency domain criteria | ||||
| Schaedel (1997). Model: Method 1 | [3]K c (584) | T i (584) | T d (584) | T f=T d (584)/N; 5 ?N ?20 |
| [3] |

| Rule | K c | T i | T d | Comment |
|---|---|---|---|---|
| Direct synthesis: frequency domain criteria | ||||
| Schaedel (1997). | [4]K c (585) | T i (585) | T d (585) | Model: Method 1 |
| [4] 0.05 ?a ?0.2, K v=prescribed overshoot in the manipulated variable for a step response in the command variable. |

| Rule | K c | T i | T d | Comment |
|---|---|---|---|---|
| Minimum performance index: servo/regulator tuning | ||||
| Taguchi and Araki (2000). |