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.