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This paper introduces self-tuning identification free PSD control algorithm and its new modification. On the basis of detailed analysis of algorithm function made by simulation experiments, several modification of original algorithm have been proposed, realized and checked. These were executed in simulation environments created by real time operating analogue models of controlled processes, connected with PC through A/D and D/A converters. Verification of control loop performance quality was executed by simulation experiments with proportional second to five order controlled processes for step responses on set point and disturbance. These experiments were executed in real time. Loop responses were characterized with numeric data quality of control loop step response behavior.