PI(D) tuning with contextual model identification

This work proposes a methodology to deal with model-based tuning of PI(D) regulators, and with the previous identification of the required process model, in a contextual way. The methodology can be applied to existing tuning rules, as done herein, leading to better control results, and also to process models capable of forecasting the closed-loop transients in a reliable manner. The same idea can be generalised to virtually any regulator structure, and also be employed to devise new tuning (and contextual identification) rules-a subject left however to future works.