PID tuning tackling design tradeoffs from an unified perspective

In this lecture attention is focused on model-based tuning of single-loop PID controllers in terms of the robustness/performance and servo/regulator trade-offs. Although the robustness/performance compromise is commonly considered, it is not so common to also take into account, for example, the conflict between input and output disturbances, referred also as the servo/regulator trade-off. As interested in providing a unified tuning approach, it is shown how the proposed methodology allows to deal with different process dynamics in a unified way.