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Detail of publication


Sobota, J. and Schlegel, M. : Iterative feedback tuning of PID controller . Process control 2004, p. 1-16, University of Pardubice, Pardubice, 2004.


This paper is focused on iterative tuning of the 2DOF PID controller to minimize given quadratic cost function of the system output error and control effort. The main ideas of Iterative Feedback Tuning are introduced and some important modification to model-free iterative PID controller design is presented. In particular, the tuning process is divided into two parts. Firstly, the classical 1DOF PID controller is iteratively tuned. The integral and derivative time constants are not tuned independently of each other, but they are related by a ratio coefficient to avoid cancellation of the derivative part of the controller even in a low noise environment. The remaining parameters of 2DOF PID are then tuned independently in the next iterative procedure. Theoretical results are verified using a laboratory coupled tanks model.

Detail of publication

Title: Iterative feedback tuning of PID controller
Author: Sobota, J. ; Schlegel, M.
Language: English
Date of publication: 8 Jun 2004
Year: 2004
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: Process control 2004
Page: 1 - 16
ISBN: 80-7194-662-1
Publisher: University of Pardubice
Address: Pardubice
Date: 8 Jun 2004 - 11 Jun 2004
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iterative feedback tuning, PID controller, model-free control design, quadratic cost function, Simulink


 author = {Sobota, J. and Schlegel, M.},
 title = {Iterative feedback tuning of PID controller},
 year = {2004},
 publisher = {University of Pardubice},
 journal = {Process control 2004},
 address = {Pardubice},
 pages = {1-16},
 ISBN = {80-7194-662-1},
 url = {},