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Automatic tuning of PID controllers using a combined time- and frequency-domain method

The paper describes an automatic tuning method for the design of PID controllers. Its starting point is the requirement for accurate modelling of process deadtime which is calculated from a discrete model description of the process. Controller design is achieved by a combination of pole-zero cancellation and frequency-response methods which ensures that the system exhibits favourable gain and phase characteristics and good relative stability even for processes with large deadtime. Results are presented for the control of a steam/water heat exchanger and illustrates the usefulness of this technique.