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In control engineering PID controllers have a long history. Due to their simplicity, they are used for many applications although numerous advanced control techniques have been developed. Heuristic tuning methods such as Ziegler-Nichols [69], and self-tuning methods which are based on relay-feedback [70] or optimization [71] have been proposed for linear systems. However, conventional PID control may not perform satisfactorily for nonlinear systems, higher order and time-delay systems, [31, 72, 73]. |
