This paper presents and analyses a method for synthesizing the feedback block of a 2-d.o.f. real PID regulator, referring to the widely used ISA structure and particularly well suited for auto-tuning. A rigorous stability, performance, robustness and consistency analysis is provided, extending some results of the previous literature. An objective criterion is devised for selecting the method’s (single) design parameter based on the process model employed and an overestimate of the corresponding process/model mismatch. Both simulation and practical application examples are reported.
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