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Comparison of auto-tuning methods of PID controllers based on models and closed-loop data

Due to changes of operating condition in industrial processes, it is necessary to tune the PID parameters to fulfill the requirement of production. The auto-tuning technology of PID controllers effectively overcomes the shortcomings of human tuning which is time consuming. In this paper several auto-tuning PID methods are discussed and compared, including Ziegler-Nichols tuning, Kappa-Tau method, IMC-PID auto-tuning, auto-tuning of fractional PID controller and data-based FRIT method. Furthermore, the illustrative examples and simulation results are also given. In this way this paper aims to provide useful references and suggestions for practical auto-tuning methods.