Industrial evaluation of the KLV method for the auto-calibration of PID controllers

The KLV method for the auto-calibration of PI and PID controllers, using a frequency domain model of the plant to be controlled (obtained by relay excitation) is recalled. The general tuning procedure is derived. It has the advantage of taking into account both robustness aspects (phase margin, gain margin, sensitivity, neglected dynamics) and desired closed loop characteristics, and to cover a large domain of current real applications. Results from industrial experiences and simulations of industrial chemical plants are given.<>