Simple analytic rules for model reduction and PID controller tuning

The aimof this paper is to present analytic rules for PIDcontroller tuning that are simple and still result in good closed-loop behavior. The starting point has been the IMC-PID tuning rules that have achieved widespread industrial acceptance. The rule for the integral term has been modified to improve disturbance rejection for integrating processes. Furthermore, rather than deriving separate rules for each transfer function model, there is a just a single tuning rule for a first-order or second-order time delay model. Simple analytic rules for model reduction are presented to obtain a model in this form, including the ‘‘half rule’’ for obtaining the effective time delay.