| Abstract
| - Numerous PID tuning rules exist, and new rules continue to be proposed in the literature. The primary objectiveof this article is to evaluate comprehensively and compare several recent or popular PID tuning methodsbased on the integral of absolute error in the controlled variable, total variation of the manipulated variableand maximum sensitivity. Several tuning rules such as internal model control, direct synthesis, and optimization-based methods were considered and evaluated for a range of first-order plus dead time process dynamicssubjected to set-point changes and/or load disturbances via simulation. On the basis of the results,recommendations were then provided for selecting the optimal tuning rule for industrial processes accordingto the desired control objective (servo versus regulatory) and the process dead time to time constant ratio.
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