simple method is presented to obtain tuning rules for conventional controllers (PID-type) able to give a desired closed loop response. These tuning rules, especially suitable in process control, require a single parameter strictly correlated with the speed of response. As the method is based on a process model which necessarily describes the real process with some uncertainty, correlations are given to allow tuning for robust performance. In this way desired performance (overshoot less than 5% in the time response), is guaranteed for systems represented by first and second order plus time delay transfer functions accounting for the most common source of uncertainty: error in time delay and order reduction. Some of the basic ideas of this study, developments and results can be found in other literature. However, the procedure and presentation of results are original. Moreover, the resulting tuning rules have received very favorable acceptance from operators in petrochemical plants and refineries, where they have been adopted in the past few years.
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