Practical guidelines for tuning PID controllers by using MOMI method

The magnitude optimum multiple integration (MOMI) tuning method for PID controllers provides nonoscillatory closed-loop response for a large class of process models. However, one must account for certain additional obstacles that have to be overcome to enable application of the method in practice. A few practical guidelines for performing multiple integrations (MI) from the process step response in practice, for re-tuning controller parameters, and for calculating the parameters of the two-degrees-of-freedom controller in order to improve disturbance rejection performance, are given.