Maximum Sensitivity based PID Controller Tuning: A survey and comparison.

Maximum sensitivity, M_s, is a closed-loop design specification that satisfies many of the requirements of a useful and practical PID controller tuning method. A variety of PID tuning methods using this specification has been developed with the majority being developed primarily for auto-tuning purposes. This contribution examines the general applicability of a number of the tuning methods by comparing their performance on some benchmark process plant models