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On the criticality of the model parametrisation method in industrial autotuning controllers

With reference to model-based (auto)tuning, we discuss the somehow overlooked role of the procedure used to parametrise the chosen process model structure. We evidence the detrimental effect of neglecting that procedure, particularly when evaluating/comparing tuning rules, thus when setting up a tuning procedure for a given application. We finally formulate a proposal for choosing the best model parametrisation procedure, in a given set, based on the information available in the tuning phase, and on the selected control quality indicator(s).