Rational methods are developed for the tuning of ideal continuous action controllers for set point changes using Proportional, Proportional plus Derivative, Proportional plus Integral and Proportional plus Integral plus Derivative control actions. For two or three term controllers, maximum gain methods are used together with the open loop frequency response of the uncompensated system. The methods have an analytical foundation andprovide considerable insight into the controller tuning. For the first time a set of mathematical criteria are proposed for the selection of continuous action controllers.
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